Mobile milking robot with minimal footprint

ABSTRACT

Disclosed is a system for treating dairy livestock having fore legs and hind legs, wherein the system comprises a milking parlor ramp, livestock stalls positioned along at least part of the milking parlor ramp, wherein each stall is configured to contain one dairy livestock, at least one vertical upright teat cup holder comprising teat cups and a mobile unit. The mobile unit comprises equipment for treating livestock and a processor, where the mobile unit is configured to travel between the fore legs and hind legs of the dairy livestock on the milking parlor ramp and use the equipment to perform at least one action related to a treatment of the dairy livestock. Also disclosed is that the equipment includes an arm configured to withdraw the teat cups from the vertical upright teat cup holder and connect them to the dairy livestock.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is a Continuation-in-Part of U.S. application Ser. No.15/533,654, filed on Jun. 7, 2017, which is a National Phase Applicationof PCT International Application No. PCT/IL2016/051046, InternationalFiling Date Sep. 21, 2016, claiming the benefit of US Provisional PatentApplications Nos. 62/221,116, 62/221,168, 62/221,173, 62/221,189,62/221,216, 62/221,224, all of which were filed Sep. 21, 2015, whereinall of the above are hereby incorporated by reference.

FIELD OF THE INVENTION

The present invention is in the field of treating livestock. Inparticular, the present invention is directed to milking, disinfectingand other treatment of dairy livestock using a mobile unit having aminimal footprint. The present invention is further directed to such amobile unit that moves along a rail or guide. The present invention isfurther directed to a plurality of such milking robots that arecoordinated with one another.

BACKGROUND OF THE INVENTION

Automated systems for treating dairy livestock are known. For example,robotic milking machines are known. Typically, a milking robot comprisesan arm that attaches a milking unit to any type of dairy livestock.Other operations of a milking robot arm may include removing a milkingunit from the dairy livestock, placing the milking unit in a housing,etc.

However, known systems and methods suffer from a number of drawbacks.For example, the arm of a milking robot travels relatively longdistances and covers large spaces. For example, in order to attach amilking unit to the dairy livestock, the arm needs to enter (and exit)the stall containing the livestock. For example, the milk is not milkeddirectly into the main milk-line. For example, a human operator cannotcome in close contact with the dairy livestock, due to robot operation.For example, known systems require the assembly of an entire new milkingplatform or at least require major changes in the existing milkingplatform, since they cannot be simply included and assembled in any typeof existing milking platform. Many of the above detailed drawbacks, aswell as others not mentioned, stem from the concept that the animalenters a particular “robotic zone”, in which it is treated, e.g.,milked, using industrial robotic arms known in the industry, that arefitted to milking and the like. Therefore, in order to construct such a“robotic zone”, the entire milking parlor needs to be rearranged andindustrial robotic arm are used.

Therefore, it would be highly desirable to develop a system fortreating, e.g., milking, animals in a milking parlor by actuallyintroducing the robot into the animal's footprint, rather thanintroducing the animal into a “robotic zone”. This would allow the useof miniature robotic arms that could move swiftly over short distances,and more importantly, it would allow the use of any type of existingmilking parlor, without necessitating cumbersome alterations thereto.

SUMMARY OF EMBODIMENTS OF THE INVENTION

Embodiments of the invention are directed to a system for treating dairylivestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, whereineach stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unitconfigured to:

-   -   travel between the fore legs and hind legs of the dairy        livestock on the ramp; and    -   use the equipment to perform at least one action related to a        treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teatcups from the vertical upright teat cup holder and connect them to thedairy livestock.

According to some embodiments, the ramp is a rotary milking parlor ramp.According to some embodiments, the ramp is a parallel milking parlorramp. According to some embodiments, the system includes two parallelramps or more. According to some embodiments, the system furthercomprises a parking area configured to contain parked mobile units.

According to some embodiments, at least one vertical upright teat cupholder is positioned between two stalls. According to some embodiments,at least one vertical upright teat cup holder is positioned in line witha space between the hind legs of the dairy livestock. According to someembodiments, the system further comprises a milking pit adjacent to theramp, wherein at least one vertical upright teat cup holder ispositioned, at least partially, in the milking pit. According to someembodiments, at least one vertical upright teat cup holder comprises atleast one flap for covering the teat cups. According to someembodiments, the teat cups are connected to the main milk line such thatthe system does not include pressure valves for controlling pressure inthe teat cups.

According to some embodiments, the arm comprises a lengthwise doublegripper.

According to some embodiments, at least two teat cups are of differentlengths. According to some embodiments, the system further comprises atleast one non-planar leg separator on the ramp in each stall, whereinthe at least one non-planar leg separator is positioned between the hindleg of an animal, when standing in the stall.

According to some embodiments, the system further comprises anautonomous pre-milking brush that may be utilized manually or by themobile unit in order to sanitize the animal's teat and to stimulate milkrelease.

According to some embodiments of the system, the autonomous pre-milkingbrush comprises:

at least two brushes;

at least one motor;

a rechargeable battery;

a charging slot;

a handle;

a switch;

a nozzle; and

a liquid reservoir.

According to some embodiments, the system further comprises apost-milking disinfection tool and a filling station, wherein thepost-milking disinfection tool comprises a dipping chamber and a fillingdetection element.

According to some embodiments, the arm is further configured to removethe teat cups from the dairy livestock, after which they are returned tothe vertical upright teat cup holder.

According to some embodiments, the teat cups are withdrawn from theupright teat cup holder in a first order and returned thereto in asecond order. According to some embodiments, the teat cups are returnedto the vertical teat cup holder by a pulling force exerted on tubesconnected to the teat cups. According to some embodiments, the systemfurther comprises a milking pit, wherein the mobile unit is configuredsuch that it does not enter the milking pit or does not extend the arminto the milking pit.

Embodiments of the invention are directed to a system for treating dairylivestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, whereineach stall is configured to contain one dairy livestock;

a rail stretching along at least part of the ramp;

at least one vertical upright teat cup holder comprising teat cups;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unitconfigured to:

-   -   travel between the fore legs and hind legs of the dairy        livestock on the ramp and along the rail; and    -   use the equipment to perform at least one action related to a        treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teatcups from the vertical upright teat cup holder and connect them to thedairy livestock.

According to some embodiments, the rail provides electricity to themobile unit under wet and unsanitary conditions and wherein the railcomprises an internal housing that houses contactors and a gliding cartin contact with the contactor, wherein the gliding cart is prepared froma conducting material and is coupled to the mobile unit via a conductiverod.

Embodiments of the invention are directed to a system for treating dairylivestock having fore legs and hind legs comprising:

a ramp;

livestock stalls positioned along at least part of the ramp, whereineach stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups;

a plurality of mobile units, wherein each mobile unit comprises:

equipment for treating livestock, communication means and a processor,and wherein each mobile unit is configured to:

-   -   travel between the fore legs and hind legs of the dairy        livestock on the ramp;    -   use the equipment to perform at least one action related to a        treatment of the dairy livestock; and    -   coordinate with any other mobile unit, with a central management        unit, with an external communication means, or any combination        thereof;

wherein the equipment includes an arm configured to withdraw the teatcups from the vertical upright teat cup holder and connect them to thedairy livestock.

Further embodiments of the invention are directed to a system fortreating dairy livestock having fore legs and hind legs comprising:

a ramp;

a rail stretching along at least part of the ramp;

livestock stalls positioned along at least part of the ramp, whereineach stall is configured to contain one dairy livestock;

at least one vertical upright teat cup holder comprising teat cups;

a plurality of mobile units, wherein each mobile unit comprises:

equipment for treating livestock, communication means and a processor,and wherein each mobile unit is configured to:

-   -   travel between the fore legs and hind legs of the dairy        livestock on the ramp and along the rail;    -   use the equipment to perform at least one action related to a        treatment of the dairy livestock; and    -   coordinate with any other mobile unit, with a central management        unit, with an external communication means, or any combination        thereof;

wherein the equipment includes an arm configured to withdraw the teatcups from the vertical upright teat cup holder and connect them to thedairy livestock.

Embodiments of the invention include a vertical upright teat cup holdercomprising teat cups, wherein the teat cups comprise holes in which theteats are positioned, and in which the teat cups are positionedvertically upright in the teat cup holder, such that the holes in whichthe teats are positioned face upwards.

According to some embodiments, the vertical upright teat cup holdercomprises at least one flap for covering the holes, such that the teatcups are connected directly to the main milk line through tubes that donot include pressure valves for controlling pressure in the teat cups.According to some embodiments, the vertical upright teat cup holdercomprises:

-   -   a first step and a second step being positioned at different        heights, thereby forming a difference in height between the        first step and the second step; and    -   a first teat cup and a second teat cup, each having a top,        wherein there is a difference in length between the first teat        cup and the second teat cup, and wherein the difference in        height between the first step and the second step is        approximately the same as the difference in length between the        first teat cup and the second teat cup, such that when the first        teat cup rests on the first step and the second teat rests on        the second step, the position of the tops of the first and        second teat cups is approximately at the same height.

According to some embodiments, the vertical upright teat cup holderfurther comprises a manifold attached to tubes leading milk from theteat cups and to another tube leading milk into a main milk line.According to some embodiments, the vertical upright teat cup holderfurther comprises at least one integrated teat cup and tube separatorthat protrudes out of the vertical upright teat cup holder.

Embodiments of the invention are directed to a teat cup assemblycomprising at least a first teat cup and a second teat cup, whereinthere is a difference in length between the first teat cup and thesecond teat cup. According to some embodiments, the teat cups comprise adouble groove.

Embodiments of the invention are directed to a system for treating dairylivestock having fore legs and hind legs comprising:

a ramp;

a milking pit;

livestock stalls positioned along at least part of the ramp, whereineach stall is configured to contain one dairy livestock;

a mobile unit comprising

equipment for treating livestock and a processor, the mobile unitconfigured to:

-   -   travel between the fore legs and hind legs of the dairy        livestock on the ramp; and    -   use the equipment to perform at least one action related to a        treatment of the dairy livestock; and

wherein the equipment includes an arm configured to withdraw the teatcups from the vertical upright teat cup holder and connect them to thedairy livestock and wherein the mobile unit is configured such that itdoes not enter the milking pit or does not extend the arm into themilking pit.

Further embodiments of the invention are directed to an autonomouspre-milking brush comprising:

at least two brushes;

at least one motor;

a rechargeable battery;

a charging slot;

a handle;

a switch;

a nozzle; and

a liquid reservoir.

Some embodiments of the invention are directed to a vertical uprightteat cup holder designed for use of a human operator and comprising teatcups, wherein the teat cups comprise holes in which the teats arepositioned, and in which the teat cups are positioned vertically uprightin the teat cup holder, such that the holes in which the teats arepositioned face upwards; and wherein the vertical upright teat cupholder comprises at least one flap for covering the holes, such that theteat cups are connected directly to the main milk line through tubesthat do not include pressure valves for controlling pressure in the teatcups.

Further embodiments of the invention are directed to a vertical uprightteat cup holder designed for the use of a human operator and comprisingteat cups, wherein the teat cups comprise holes in which the teats arepositioned, and in which the teat cups are positioned vertically uprightin the teat cup holder, such that the holes in which the teats arepositioned face upwards, wherein the vertical upright teat cup holdercomprises:

-   -   a first step and a second step being positioned at different        heights, thereby forming a difference in height between the        first step and the second step; and    -   a first teat cup and a second teat cup, each having a top,        wherein there is a difference in length between the first teat        cup and the second teat cup, and wherein the difference in        height between the first step and the second step is        approximately the same as the difference in length between the        first teat cup and the second teat cup, such that when the first        teat cup rests on the first step and the second teat rests on        the second step, the position of the tops of the first and        second teat cups is approximately at the same height.

According to some embodiments, the vertical upright teat cup holderfurther comprises a manifold attached to tubes leading milk from theteat cups and to another tube leading milk into a main milk line.

Further embodiments of the invention are directed to a vertical uprightteat cup holder designed for the use of a human operator and comprisingteat cups, wherein the teat cups comprise holes in which the teats arepositioned, and in which the teat cups are positioned vertically uprightin the teat cup holder, such that the holes in which the teats arepositioned face upwards, and wherein the vertical teat cup holderfurther comprises at least one integrated teat cup and tube separatorthat protrudes out of the vertical upright teat cup holder.

BRIEF DESCRIPTION OF THE DRAWINGS

The subject matter regarded as the invention is particularly pointed outand distinctly claimed in the concluding portion of the specification.The invention, however, both as to organization and method of operation,together with objects, features and advantages thereof, may best beunderstood by reference to the following detailed description when readwith the accompanied drawings. Embodiments of the invention areillustrated by way of example and not limitation in the figures of theaccompanying drawings, in which like reference numerals indicatecorresponding, analogous or similar elements, and in which:

FIG. 1 shows an exemplary system according to embodiments of theinvention;

FIG. 2A schematically shows a mobile unit according to embodiments ofthe invention;

FIG. 2B schematically presents an engaged configuration of a safetymechanism for a mobile unit according to embodiments of the invention;

FIG. 2C schematically presents a disengaged configuration of a safetymechanism for a mobile unit according to embodiments of the invention;

FIG. 3 schematically shows components included in a mobile unitaccording to embodiments of the invention;

FIG. 4 shows a system according to embodiments of the invention in arotary milking parlor;

FIGS. 5A, 5B and 5C present a system according to embodiments of theinvention in a parallel milking parlor, wherein FIG. 5A presents

FIG. 6 shows a system according to embodiments of the invention in aparallel milking parlor, specifically presenting the treatment of thelivestock, including attaching treat cups thereto, by a plurality ofmobile units;

FIGS. 7A, 7B, 7C and 7D present embodiments of the system includingrails comprising branches and loops;

FIG. 8 presents an embodiment of the invention including a plurality ofmobile units wherein at least one of them communicates with at least oneother unit;

FIG. 9 presents an embodiment of the invention including a plurality ofmobile units that communicate with a central management unit;

FIG. 10 presents an embodiment of the invention including a plurality ofmobile units wherein at least one of them communicates with one otherunit and with a central management unit;

FIG. 11 presents an embodiments of the invention including a verticalupright teat cup holder comprising four teat cups, two of which arelonger than the others, wherein every pair of teat cups is covered witha flap;

FIG. 12 presents an embodiment of the double gripper;

FIG. 13 presents an embodiment where the mobile unit, positioned underthe abdomen of the animal, reaches with a double gripper towards thevertical upright teat cup holder, which is behind the hind legs of theanimal;

FIG. 14 presents an embodiment of the double gripper, after havinggripped two teat cups;

FIG. 15 presents an embodiment where the double gripper, gripping twoteat cups, attaches the first of the two teat cups to the teat of theanimal;

FIG. 16 presents an embodiment of the system include a vertical uprightteat cup holder comprising tubes, flaps, axels and a piston;

FIG. 17A presents a back-side view of an embodiment of the verticalupright teat cup holder, showing the tubes leading to the main milk lineand the axels attached to each two sets of tubes;

FIG. 17B presents a front-side view of an embodiment of the verticalupright teat cup holder, showing a manifold for gathering the milk fromthe four tubes, as well as wheels, axels and pistons, intended to aid inreturning the teat cups into the vertical upright teat cup holder;

FIG. 17C presents a front-side view of an embodiment of the verticalupright teat cup holder, including an integrated teat cup and tubeseparator;

FIG. 17D presents an embodiment of an integrated teat cup and tubeseparator;

FIGS. 18A and 18B present embodiments of the non-planar leg separator;

FIGS. 19A and 19B present embodiments of the autonomous pre-milkingbrush, differing from one another in the shape of their handle;

FIG. 19C presents an embodiment of the autonomous pre-milking brush thatincludes a liquid reservoir.

FIG. 20 presents an embodiment of the post-milking disinfection tool;

FIG. 21 presents an embodiment of the post milking disinfection tool inthe filling station;

FIG. 22A presents an embodiment of the rail providing electricity to themobile unit under wet and unsanitary conditions;

FIG. 22B presents an embodiment of the rail providing electricity to themobile unit under wet and unsanitary conditions, wherein the entrance tothe rail is protected by a curtain element;

FIG. 23, presents a system according to an embodiment of the inventionin a parallel milking parlor, specifically presenting mobile unitsmoving along a rail, wherein the rail includes a parking area designedin an arc-shape;

FIG. 24 presents an embodiment of a hip separator that may beincorporated into the system of the invention;

FIGS. 25A and 25B present an embodiment of the arm and gripper of theinvention, in the non-extended (FIG. 25A) and extended (FIG. 25B)configurations; and

FIG. 26 presents an embodiment of the arm of the invention, whichincludes a ball screw and one belt.

It will be appreciated that for simplicity and clarity of illustration,elements shown in the figures have not necessarily been drawn accuratelyor to scale. For example, the dimensions of some of the elements may beexaggerated relative to other elements for clarity, or several physicalcomponents may be included in one functional block or element. Further,where considered appropriate, reference numerals may be repeated amongthe figures to indicate corresponding or analogous elements.

DETAILED DESCRIPTION OF EMBODIMENTS OF THE INVENTION

Although embodiments of the invention are not limited in this regard,discussions utilizing terms such as, for example, “processing,”“computing,” “calculating,” “determining,” “establishing”, “analyzing”,“checking”, or the like, may refer to operation(s) and/or process(es) ofa computer, a computing platform, a computing system, or otherelectronic computing device, that manipulates and/or transforms datarepresented as physical (e.g., electronic) quantities within thecomputer's registers and/or memories into other data similarlyrepresented as physical quantities within the computer's registersand/or memories or other information non-transitory processor-readablestorage medium that may store instructions, which when executed by theprocessor, cause the processor to perform operations and/or processes.

Although embodiments of the invention are not limited in this regard,the terms “plurality” and “a plurality” as used herein may include, forexample, “multiple” or “two or more”. The terms “plurality” or “aplurality” may be used throughout the specification to describe two ormore components, devices, elements, units, parameters, or the like.Although embodiments of the invention are not limited in this regard,the term “set” when used herein may include one or more items.

It is noted that throughout this document, the definitions of the“parallel milking parlor”, “parallel ramp” and the like, include rampsand milking parlors in which the stalls for confining the animals on thesame ramp are at least approximately parallel to one another. Thus,those terms include, what is known in the art as parallel ramps/milkingparlors as well as parabone ramps/milking parlors, and any other type oframp/milking parlor, in which the system may operate.

It is noted that throughout this document, unless specifically mentionedotherwise, the terms “teat cups”, “milking cups” and the like areinterchangeable. It is noted that throughout, term such as “verticalupright holder”, “vertical upright teat cup holder”, and the like, areinterchangeable unless specifically mentioned otherwise or unless aperson skilled in the art would understand that any one of those termshas a different and/or broader definition than the other. In thisrespect it is noted that the vertical upright teat cup holders aredefined herein to hold teat cups that are directly connected to the mainmilk-line; however, other than being connected to the main milk-line,the teat cups held in the vertical upright teat cup holder are notconnected to any robotic arm or the like. It is further emphasized thatthe teat cups according to this invention are defined to be connected tothe main milk-line, though not to any robotic arm or the like. Asdetailed herein, the teat cups may be held/gripped by a robotic arm ofthe mobile unit; however, they are not connected thereto.

It is further emphasized that the main milk line, referred to in the artalso as the “milk line”, and the like, refers to the milk line leadingfrom various points in the milking parlor to the milking parlor's milktank, referred to also as the main milk tank.

It is further noted that, throughout, terms such as “communication”,“collaboration”, “coordination” and the like, relevant to the operationof several mobile units in the same system, are interchangeable unlessspecifically mentioned otherwise, or unless a person skilled in the artwould understand that any one of those terms has a different and/orbroader definition than the other. In this respect, and as detailedherein, several mobile units may communicate/collaborate/coordinatedirectly with one another and/or via a central management system or anyother appropriate means.

Although dairy livestock (and in particular, cows) are mainly discussedherein, it will be understood that embodiments of the invention may beapplicable to any type of livestock (e.g., goats, sheep, horses etc.).Particularly, even when cows are specifically related to, theembodiments are intended to cover any other type of livestock as well.Although milking of dairy livestock is mainly discussed herein it willbe understood that embodiments of the invention may be applicable toother operations, or treatments of livestock. For example, treatments,such as, disinfecting or washing the livestock, heating an organ of thelivestock and/or milking may all be enabled or performed by a system ormethod according to embodiments of the invention. Embodiments of theinvention may be applicable to operations such as; diagnostic measures,acquiring an image, testing for pregnancy or capturing a heartbeat of afetus and/or identifying the livestock.

Embodiments of the invention may include a system and method fortreating livestock. The term “treating” includes treatments such as,milking, disinfecting, administering medicaments, and/or testing and/ordiagnosing, and the like. In particular, embodiments of the inventionmay include a system and method directed to milking, disinfecting andother treatments and/or testing of dairy livestock. An embodiment of asystem may include a ramp for containing dairy livestock and one or moremobile units configured to travel on the ramp, below the abdomen, i.e.,between the front and hind legs of the dairy livestock, and perform atleast one action related to a treatment of the dairy livestock. In thisrespect it is noted that throughout the application, unless specificallymentioned otherwise, when the terms “under the livestock” “below thelivestock” or similar terms are used, they refer to a mobile unit foundon the same geometric plane as the livestock, i.e., on the same ramp,platform, rail or guide attached to the ramp, and the like, while beingpositioned, at least partially, under the belly/abdomen of thelivestock, between the fore and hind legs thereof.

An action performed by a mobile unit may be, or may include, milking,disinfecting, cleaning the ramp, washing the livestock, acquiring animage, identifying the livestock, testing for pregnancy, capturing aheartbeat of a fetus, taking blood and/or milk samples and heating anorgan of the livestock. According to some embodiments, the mobile unitcomprises an arm that may be operated to perform any necessary actions,such as gripping equipment, sensing the location of equipment, movingequipment from one location to another and the like. The arm itself maybe equipped with any necessary equipment, such as a gripping unit, asensor and the like, allowing the arm to perform any necessary actions.

An embodiment of a system may include a ramp adapted to translate boththe livestock and the mobile unit, e.g., in a rotary milking parlor.According to other embodiments, the ramp is stationary, such as in aparallel milking parlor. include An embodiment of a system may include aramp configured to house a milking equipment unit and a mobile unit maybe adapted to detach the milking equipment unit from a housing unit andattach the milking equipment unit to dairy livestock. Particularly,according to the system of the invention, the teat cups may bepositioned in holders, such that they are considered to be part of theplatform, ramp or stall, not part of the mobile unit. Accordingly, milkentering the teat cups may be transferred, as detailed below, directlyinto the main milk-line. It is further noted that other than the teatcups and the main milk-line, any other equipment in the milking parlormay also be used in the system of the invention, e.g., by the mobileunits, as required, such as the vacuum line, vacuum tank, vacuumpulsator, pre-cooling tank, milk tank, milk meter, milking pointcontroller, and the like.

According to some embodiments, the system of the invention includes aplatform or ramp that is divided into stalls, wherein each stall isintended for one animal. As known in the art, in a rotary milking parlorthe stalls are arranged in a circle on a rotating platform/ramp, whereina milking pit surrounds the rotating platform. In a parallel milkingparlor, the stalls are arranged in two parallel lines, wherein themilking pit is found between those two parallel lines of stalls.

According to some embodiments, the teat cup holders are positioned at apre-designated location, wherein each stall has a designated teat cupholder. According to some embodiments, the teat cup holders, as well asholders for any other necessary equipment or substances, are positionedsuch that when an animal enters the stall, the holder is about in linewith the space between the hind legs of the animal. According to someembodiments, the teat cup holders, as well as holders for any othernecessary equipment or substances, are positioned between every twostalls, wherein an additional holder may be positioned before the firststall or after the last stall, such that each stall has a designatedholder. According to some embodiments, any of the holders, holding thesame or different equipment, may be positioned about in line with thespace between the back legs of an animal, when confined to the stall.According to some embodiments, some of the holders are positioned aboutin line with the space between the back les of an animal confined to thestall while other holders may be positioned between two stalls.

According to some embodiments, the holders do not extend into themilking pit. According to other embodiments, the holders extend into themilking pit by up to about 5, 10, 15, 20, 25, 30, 35, 40, 45 or 50 cm.according to some embodiments, each stall is designated with at leastone holder, though the designated holders may be positioned inside,partially outside, or fully outside of the stall itself, e.g., in themilking pit. According to some embodiments, when the holders arepositioned in line with the space between the hind legs of the animal,they are positioned in the milking pit. According to some embodiments,in a rotary milking parlor the holders are positioned between thestalls. According to some embodiments, in a parallel milking parlor, theholders are positioned about in line with the space between the hindlegs of the animal confined to the stall, protruding, at leastpartially, into the milking pit. According to some embodiments, in aparallel milking parlor, at least part of the holders are positionedfully in the milking pit about in line with the space between the hindlegs of the animal on the ramp.

According to some embodiments, the position and/or height of the holdersmay change during operation. According to some embodiments, while theanimals enter the stalls, the holders may be positioned, at leastpartially, in or over the milking pit, such that the entrance of theanimals into the stalls is not hindered by the holders. Once the animalsare positioned in the stalls, the holders may remain in their position(between the stalls or about in line with the space between the hindlegs of the animal, though, at least partially, in or over the milkingpit), from where the mobile unit will remove the necessary equipment.According to such an embodiment, the arm of the mobile unit extends intothe milking pit by up to about 5, 10, 15, 20, 25, 30, 35, 40, 45 or 50cm, as necessary, for reaching the equipment or substances in theholders. According to other embodiments, once the animals are positionedin the stalls, the position of the holders may be changed, such thatthey move, at least partially, from the milking pit, into a positionbetween the stalls, or between the hind legs of the animal, on theplatform/ramp. According to such an embodiment, the arm of the mobileunit may not extend into the milking pit. According to some embodiments,all of the holders move at the same time. According to otherembodiments, each one of the holders may move, in or out of the positionbetween the stalls/hind legs of the animal, at a designated time, e.g.,when the equipment therein, e.g., teat cups, is to be reached by amobile unit or when the livestock enter, are positioned in, or leave thestalls. According to some embodiments, the holders may have folded andunfolded configurations, such that their angle, in respect to theirsurroundings, e.g. the ramp or stalls, may be altered, as necessary. Thechange in configuration of the holders may be performed by the same orby other means as the change in their positions and further, theconfiguration change may be performed on all holders together ordifferently on different holders, the same as described regarding theposition of the holders.

According to some embodiments, the movement of the holders is performedby any appropriate means, which may be mechanical, manual, electronic orautomatic. According to some embodiments, the movement of the holders isinitiated according to any signal received from any appropriate sensors,which may be either part of the milking platform or of the mobile unit.According to some embodiments, any one of the mobile units may grab anypart of any one of the holders and either pull it, at least partially,into the ramp or push it, at least partially, away from the ramp.Similarly, according to any of the embodiments detailed above relevantto height, the height of the holders may change during operation, sothat, regardless of their initial height, when the mobile unit reachesto withdraw/replace a teat cup (or any other equipment) from/in theholder, the height of the holders is lower than the animals' abdomen.According to some embodiments, the height of the holders is set to beconstantly lower than the bottom of the livestock's abdomen. Accordingto some embodiments, the height of the holders may be altered by anyautomatic, mechanical, electronic, or manual means, wherein, at leastone position of the holders is at a height that is lower than the bottomof the livestock's abdomen. According to other embodiments, the heightof the holders is not below the animal's abdomen; however, the holdersare positioned at any appropriate position, including height, so thatthey can be reached by the mobile unit, e.g., when the mobile unit ispositioned under the animal.

Embodiments of the invention are directed to vertical upright teat cupholders. Typically, as known to those familiar with the art, the teatcups in the milk cup holders are upside down, such that when the teatcups are withdrawn from the holders, they are flipped (i.e., turnedover) by about 180° in order to attach them to the animals' udder.According to some embodiments, as shown, e.g., in FIG. 11, the holdersaccording to this invention are vertical upright holders, such that theteat cups are positioned therein with the hole, in which the animal'steat is placed, facing upwards. Such upright teat cup holders enable amobile unit to withdraw the teat cups from the teat cup holders andattach them directly to the animal, with only slight adjustment of theposition of the hole, such that the mobile unit is not required to flipthe teat cups by 180°. This may enable the procedures performed by themobile unit to be simple, fast and inexpensive.

According to some embodiments, the teat cups in the teat cup holders arecovered by at least one flap, wherein the flap may prevent the entranceof undesired matter into the teat cups. The flap may be considered to bepart of the holder, such that when a teat cup is withdrawn from theholder, it is withdrawn from under the flap, and is no longer covered.According to some embodiments, each holder includes one flap, coveringall of the teat cups in the holder. According to some embodiments, eachholder includes two flaps, each covering half of the teat cups, e.g.,each covering two out of four teat cups. According to some embodiments,each teat cup is covered by its own flap. According to some embodiments,the flaps may be replaced by any other appropriate element, either partof the holder or of any other element in the milking parlor, whichprevents the entrance of unwanted matter into the teat cups and/or theloss of vacuum during attachments of the teat cups to the animals, asdetailed herein.

According to some embodiments, other than preventing the entrance ofunwanted matter into the teat cups, the flaps may also prevent the lossof vacuum during the attachment of the teat cups to the animal.Typically, the line/tube leading from each teat cup includes a valve,such that the vacuum in each teat cup is controlled separately.According to some embodiments, any two teat cups may be connected to themain milk line via the same valve. According to some embodiments, eachtwo teat cups may be connected to the main milk line via one valve.According to some embodiments, all of the teat cups are connected to themain milk line via one valve. According to some embodiments, all of orat least some of the teat cups are connected directly to the main milkline, without any valves. It is noted that embodiments having teat cupsconnected directly to the main milk line include embodiments in whichthe teat cups are connected to the main milk line via milk monitors,meters and the like. Thus, the flap mechanically holds the vacuum in theteat cups covered by it. When removing any of the teat cups from theholder, the vacuum in the remaining teat cups is preserved mechanicallyby the flap/s, such that the teat cups withdrawn from the holder may beattached to the animal's udder, maintaining the vacuum therein onceattached. According to some embodiments, once attached to the animals'udder, the teat cups will remain attached during the time in which theremaining teat cups are withdrawn from the holder, i.e., from under theflap/s, until they are attached to the udder as well, even though vacuumis not maintained, since the period of time during which the vacuum isnot maintained is short and further, since already attached to theudder, the teat cups, which are fitted to the udder, will not fall offso quickly.

Once the milking is concluded, the teat cups are removed from theanimal's udder and returned to the holder. A signal that the milkingprocess has been concluded may be received by any appropriate part ofthe system by any electronic or mechanical means known in the art.According to other embodiments, once the milking is concluded, the teatcups are returned to the holder automatically, mechanically,electronically, by human operators, by any other appropriate means or byany combination thereof. According to some embodiments, the teat cupsare removed from the udder and returned to the holder by the mobileunit. According to some embodiment, the tubes attaching the teat cups tothe main milk-line pass by any number of wheels, pulleys and the like,in order to allow smooth and easy motion of the tubes, thereby allowingthe teat cups to be easily withdrawn from and returned to the holder.According to some embodiments, the teat cups themselves move adjacent toany number of wheels, pulleys and the like, in order to reduce friction.The wheels, pulleys and the like may further guide the teat cups and thetubes along a certain desired path.

According to some embodiments, every one of the teat cups is attached toone tube, which in turn is attached to a piston, motor or the like,which is designed to return the teat cup to the holder once the milkingis concluded. According to other embodiments, any number of tubes may beexternally connected to one another by any appropriate means, such as anaxle, wherein each axle is connected to a motor, piston or the like,which is designed cup to the holder once the milking is concluded.According to some embodiments, every two tubes are externally connected,allowing the removal of the teat cups in pairs and further allowing thesystem to include half the number removal motors/pistons, for removingthe teat cups, as the number of teat cups. According to someembodiments, it is noted that although any number of tubes may beconnected to one another, allowing removal in pairs or more, the holderand system are designed such that the attachment of the teat cups to theanimal is not dependent on the removal of the teat cups therefrom. Thus,even if withdrawn in pairs or more, the teat cups may be attached one byone, or attached in pairs or more, though not necessarily the same pairsor more of teat cups, as removed.

According to some embodiments, the holder is designed such that it maybe operated and used by a mobile unit and/or by a human operator. Thus,the holder may be designed to allow the teat cups to be withdrawntherefrom and returned thereto one-by-one, all together, in pairs or inany appropriate combination, depending on the operator. The holder mayfurther allow enough room for the hands of a human operator to utilizeany parts of the holder as well as the held equipment, e.g., teat cups,while at the same time, be designed such that a mobile unit may simplyutilize any parts thereof, such that the teat cups are withdrawntherefrom/returned thereto in an orderly manner. For example, the holderis designed such that when the teat cups are returned to the holder,they are held upright and covered by the flaps, thereby preventing theloss of vacuum as well as preventing the entrance of undesired matterinto the main milk line. For example, the holder is designed such thatthe teat cups are held therein in parallel and/or vertical lines,allowing any type of robotic or human operator to withdraw/return theteat cups in pairs or more, without requiring unnecessary maneuvers.

According to some embodiments, the holder is designed to allow the teatcups to be placed therein in parallel, vertical or staggered lines.According to some embodiments, the holder is designed to allow the teatcups to be placed therein, such that the bottom of the teat cups isstaggered. According to some embodiments, the holder includes a step,indentation or the like, allowing the bottom of the teat cups to bestaggered. According to some embodiments, a tube leading to the mainmilk line is connected to the teat cup, such that the tube is on thebottom back side of the teat cup, i.e., the bottom of the side directedaway from the animal. An example of such a teat cup may be seen, e.g.,in FIG. 11. Allowing the teat cups to be held in the holders when theirbottoms are staggered, e.g., by placing the teat cups on designatedsteps in the holder, as shown, e.g., in FIG. 11, allows the tubesconnected to each teat cup to be under/above the tubes connected to theteat cup sitting on the next step in the holder, thereby preventing theentanglement of the tubes. According to some embodiments, the holderincludes one step, such that the bottom part of the front teat cups,i.e., the teat cups in the direction of the animal, is lower than thebottom part of the back teat cups, i.e., the teat cups further from theanimal, e.g., as shown in FIG. 11. According to some embodiments, theteat cups are positioned in the holder in pairs, such that the frontteat cup in each pair, i.e., the teat cup closer to the animal, isplaced on a lower step than the back teat cups. Therefore, the tubeconnected to the front teat cup is positioned under the tube connectedto the back teat cup. Stated otherwise, each pair of teat cups may bedesigned to rest of two steps different in height from one another,wherein the height difference between the two steps may be at leastsimilar to the difference in length of the two teat cups, such that whenresting on the steps, the bottoms of the teat cups are staggered, whilethe tops thereof are not, as detailed herein.

Embodiments of the invention are directed to teat cups designed to fitthe holder and to allow any type of operator to simply withdraw the teatcups from the holder and to return them thereto. According to someembodiments, the teat cups comprise any number of grooves or the like,allowing the arm of the mobile unit, as detailed herein, to easily graspthe teat cups.

As detailed herein, the holder may include at least one step, or thelike, such that the bottoms of the teat cups are staggered. Accordingly,if the teat cups are all the same size, the tops thereof would bestaggered as well. According to some embodiments, the set of teat cupsheld together in the same holder are designed such that the tops of anynumber of teat cups may be at approximately the same height, even if thebottom of those teat cups is staggered. According to some embodiments,the teat cups are designed such that the height of the different teatcups may be different from one another, thereby allowing the bottoms ofany two teat cups to be staggered, while the tops thereof are not.

As shown in FIG. 11, at least two teat cups may be staggered at thebottom when positioned in the holder, as detailed herein, wherein thefront teat cup is longer than the back teat cup, thereby allowing thetops of the two teat cups to be positioned at approximately the sameheight, even though the bottoms are staggered. This may allow the two(or more) teat cups to be covered by the same flap. This may furtherallow the removal of a pair of teat cups from the holder by a mobileunit, wherein the tubes thereof do not tangle, since they are staggeredat the bottom, while still allowing the mobile unit to “see” the tops ofboth of the teat cups, e.g., by laser, such that the mobile unit mayproperly grasp both teat cups, as detailed herein. It is noted thatalthough the staggering of the teat cups is described mainly for a pairor teat cups, the same type of staggering may be used for any number ofappropriate teat cups.

Accordingly, embodiments of the invention are directed to a plurality ofteat cups wherein at least two teat cups have different lengths.According to some embodiments, the teat cups having different lengthsare positioned one behind the other in the holders, wherein the front ofthe holder is considered to be in the direction of the animal. Accordingto some embodiments, when positioned in the holders, the bottoms of theteat cups having different lengths are staggered, possibly resting onsteps of different heights, wherein the height of the steps isdetermined such that the tops of the teat cups are approximately at thesame height. Thus, the difference in length between the teat cups may beapproximately identical to the difference in height of the steps onwhich the teat cups are positioned. Although steps are referred toherein, it is noted that any other means, such as clips and the like maybe used in order to position the teat cups in the holder, such that theyare staggered at the bottom, though not at the top.

Embodiments of the invention are directed to teat cups comprising morethan one groove, hook, handle, indentation, notch and the like, whichare designed such that a gripping unit on the arm of the mobile mayeasily grasp the teat cup, as detailed herein.

Embodiments of the invention are directed to a vertical teat cup holder,in which the teat cups are positioned vertically upright, wherein theholes in which the teats are positioned face upwards, as detailedherein, comprising:

-   -   a first step and a second step being positioned at different        heights;    -   a first teat cup and a second teat cup, each having a top,        wherein there is a difference in length between the first teat        cup and the second teat cup, and wherein the difference in        height between the first step and the second step is        approximately the same as the difference in length between the        first teat cup and the second teat cup, such that when the first        teat cup rests on the first step and the second teat rests on        the second step, the position of the tops of the first and        second teat cups is approximately at the same height;    -   a flap covering the tops of the first and second teat cups; and    -   first and second tubes leading from the first and second teat        cups, respectively, to the main milk line, wherein the first        tube is positioned, at least partially, under the second tube.

According to some embodiments, in order to allow smooth and easymovement of the teat cups in and out of the holder, the system includesany appropriate number of smooth surfaces, wheels, ball-bearings,rollers and the like, positioned inside and/or outside of the holder,along the paths in which the teat cups and/or tubes move when the teatcups are withdrawn/returned to the holder.

A mobile unit may be adapted to determine its location and, based on itslocation, it may determine the location of any necessary equipment orsubstances, including a milking equipment unit, such as teat cups orteat cup holders, sanitizing fluid, cleaning brushes and the like. Aplurality of mobile units and optionally a central management unit maybe configured to dynamically cause at least some of the plurality ofmobile units to each perform a portion of a treatment or task. A firstmobile unit may be adapted to attach a first portion of a milking unitto the dairy livestock and a second mobile unit may be adapted to attacha second portion of the milking equipment to the dairy livestock.According to other embodiments, and as detailed herein, a plurality ofmobile units and optionally a central management unit may be configuredsuch that each of the mobile units performs the entire treatment or taskin a certain, designated, number of stalls. According to furtherembodiments, some of a plurality of mobile units performs part of atask, while others operate in part of the stalls. In this respect it isnoted that any combination and coordination between the various mobileunits is possible, wherein their overall operation is intended toperform the overall required treatment or task.

An embodiment of a system may include a ramp that includes a guide orrail designed to keep the mobile unit within or on a predefined pathunder the livestock. An embodiment of a system may include a ramp thatincludes stalls and a mobile unit may be adapted to automatically travelfrom a first stall to a second stall. A ramp may include a mark and amobile unit may be adapted to use the mark in order to determine itslocation with respect to a stall, the ramp and/or other entities in themilking parlor. A mobile unit may be configured to travel between thefront and hind legs of the livestock and the rail may be configured tomaintain the mobile unit on a predefined path that passes between thefront and hind legs of the livestock, when they are positioned in thestalls.

According to some embodiments, once the livestock are positioned in thestalls, ready for milking, the mobile units may enter the ramp and movebetween the stalls, performing tasks, as detailed herein. Particularly,the tasks may be performed while the mobile units are positioned/parkedunder the livestock. According to some embodiments, the mobile unitsmove into their “work-mode” position under the livestock only after thelocation of the livestock has been determined, according to anyappropriate means, such as sensors and the like, which may be part ofany element of the milking parlor. As detailed herein, the mobile unititself may include any type of sensors, which may aid in determining theexact location of the livestock and/or the position of the mobile unitin relation to the livestock. According to some embodiments, the mobileunits include any appropriate type of sensor, which prevents the mobileunit, or any part thereof, from colliding with other mobile and/orstationary entities in the milking parlor. According to someembodiments, the mobile unit includes an arm equipped with such asensor.

According to some embodiments, the system includes a rail or guide,along which the mobile units may travel, such that they are confined toa predefined path, wherein the rail/guide may be positioned to run alongat least part of the length of the ramp/platform approximately in themid-line between the front and hind legs of the livestock. It is notedthat throughout, unless specifically mentioned otherwise, the terms“guide” and “rail” are interchangeable and include any elements that maymaintain the mobile units within or on a predefined path. It is notedthat any type of rail may be used, including a monorail, double rail,flat rail, rail using a magnetic guide and the like. It is further notedthat the rail may be prepared from any appropriate type of material,such as a metal, a polymer or any combination thereof. According to someembodiments, the rail is designed such that it is strong enough toresist deformation caused by the livestock stepping on the rail, kickingit and the like. Thus, both the shape (e.g., width) and the materialfrom which the rail is prepared take the forces that will be exerted onthe rail into account.

Implementing a rail, according to embodiments of the invention, mayensure that the mobile units remain on a predefined path, such thatcollisions of the mobile units with the livestock, human operators,other mobile units or other entities in the milking parlor, eithermobile or stationary, are minimized. The path of the rail may be setsuch that it does not enter the most “kick prone” zones on the ramp,which may be around the hind legs of the animal, particularly in back ofthem, thereby limiting the damage to both the mobile units and thelivestock. According to some embodiments, once the rail has been inposition on the ramp over a certain period of time, the animals willrefrain from placing their hooves on the rail, ensuring both animal andmobile unit safety, as well as allowing the mobile unit to increase itsspeed along the rail without harming the mobile unit or any of theanimals on the ramp. According to some embodiments, the rail providesthe mobile units with stability, i.e., since the mobile units areattached to a rail, a strong force may be required to “derail” them,when not desired, and therefore, even if the mobile units are hit, e.g.,by an animal kick, they remain on their designated path.

According to some embodiments, when the mobile units move along a rail,their speed may be increased since, as detailed above, the rail mayprovide the mobile units with stability, and further, since, as detailedabove, the risk of collisions is decreased when the mobile units areconfined to a rail. The increase in speed of the mobile units may reducethe overall treatment, e.g., milking, time. According to someembodiments, the speed of the mobile units is in the range of about 0-2m/s. According to some embodiments, the speed of the mobile units is inthe range of about 0-3 m/s. According to some embodiments, the speed ofthe mobile units is in the range of about 0-1 m/s.

According to some embodiments, the system may be designed such that themobile units have different working and security modes that differ fromone another, e.g., in the speed of the mobile unit, the use of the armof the mobile unit, the extension distance of the arm of the mobile unitand the like. Thus, according to some embodiments, the mobile unitsspeeds, as detailed above, are defined for the working mode of themobile unit. According to some embodiments, the mobile unit furtherincludes a security mode. In the security mode the speed of the mobileunit may be in the range of about 0-0.25 m/s.

According to some embodiments, when in the security mode, the mobileunit does not perform actions, and therefore, does not extend/retractits arm. According to some embodiments, limited extensions and/orretractions of the mobile unit arm are allowed in the security mode.According to some embodiments, in the security mode, the arm mayextend/retract up to 10% of its maximal extension/retraction capability.According to some embodiments, in the security mode, the arm mayextend/retract up to 20% of its maximal extension/retraction capability.According to some embodiments, in the security mode, the arm mayextend/retract up to 30% of its maximal extension/retraction capability.According to some embodiments, in the security mode, the arm mayextend/retract up to 40% of its maximal extension/retraction capability.According to some embodiments, in the security mode, the arm mayextend/retract up to 50% of its maximal extension/retraction capability.

According to some embodiments, the mode of the mobile units is changedfrom working mode to security mode, or vice versa, by manually pressinga button, flipping a switch, a magnetic sensor, or the like, wherein thebutton/switch may be on the mobile unit, on the teat cup holder, in anylocation on the ramp, in the milking parlor or in a control centerremotely positioned. According to some embodiments, the mode of themobile units is changed from working mode to security mode, or viceversa, by an electronic command sent to the mobile unit from anyappropriate remote device, possible via the guide/rail, as detailedherein, via RF, Bluetooth, WiFi or the like.

According to some embodiments, the use of the rail further allowsimmediate or quick halts of the mobile unit when necessary, e.g., in aparticular stall, in an accurate position along the rail and the like.The mobile unit may be pre-programmed to stop at certain positions, orotherwise, may stop according to data received during operation.

It this respect it is noted that the system of the invention is amodular system, which may include any number of mobile units and arail/guide comprising any number and length of sections. Accordingly,the system of the invention may be assembled in any type of existingmilking parlor, e.g. a rotary milking parlor or a parallel milkingparlor. According to some embodiments, in a rotary milking parlor, theguide/rail is positioned on the circular platform/ramp, from the firstto the last stall, possibly completing the circle. According to someembodiments, it a parallel milking parlor, the guide/rail is placed oneach one of the parallel platforms/ramps, stretching from one end of theplatform to the other. It is noted that the guide/rail may be designedto include any required branches, loops and the like, used, for example,for removing a mobile unit from the platform at any necessary pointalong the platform, and the like. According to some embodiments, therail may include linking units, which link together two or more railsections. According to some embodiments, the various rail sections andlinking units may be easily and quickly assembled (or disassembled) intoany required length and/or shape of rail, wherein, although the railcomposes several sections/linking units, they are designed and attachedsuch that the mobile units smoothly move from section to section alongthe rail, after assembled. According to some embodiments, when requiredor desired, any section/linking unit may be replaced, removed or added.

Since the system of the invention is modular, it may also be assembledin any milking parlor, regardless of the size or type of the milkingparlor. Generally, a larger milking parlor would be equipped with asystem including a larger number of mobile units and well as a longeroverall length of rail/guide. The system of the invention may also beprovided with a varying number of mobile units, such that at times acertain number of mobile units may be used, while at other times adifferent number of mobile units may be used.

The rail may be connected by any appropriate means to the ramp or to anyother elements in the milking platform, such that the mobile units maytravel thereon and such that the rail itself does not hinder themovements of the animals on the ramp, e.g., as they enter and exit thestalls. According to some embodiments, the rail is designed to beadjacent to the ramp. According to some embodiments, at least the top ofthe rail is designed to be raised above the ramp. According to someembodiments, the top of the rail is raised by about 8-20 cm above theramp. According to some embodiments, the top of the rail is raised byabout 5-10 cm above the ramp. According to some embodiments, the top ofthe rail is raised by about 10-15 cm above the ramp. According to someembodiments, the top of the rail is raised by about 15-20 cm above theramp. According to some embodiments, when the top of the rail is raisedabove the ramp, the area beneath the ramp may be cleaned, as detailedherein. According to some embodiments, the top surface of the rail maybe flush with the surface of the ramp, wherein the rest of the rail issunken in the ramp. According to some embodiments, the entire rail,including the top surface thereof, is sunken into the ramp. Designatedcleaning means, as detailed herein, may be designed to clean the railand/or its surroundings.

According to some embodiments, the rail includes means by whichelectricity is provided to the mobile units. Accordingly, the mobileunits are not required to include a battery pack, which would increasetheir size and weight, as well as require charging or replacement.Further, if electricity is provided by the rail, there is no need forattaching electric cables to the mobile units, which may be hazardous tothe mobility of the livestock, may be tangled by the motion of themobile unit and may further be cumbersome when more than one mobile unitis used. According to some embodiments, the electricity is provided fromthe rail to the mobile units by any appropriate pickup design. Accordingto some embodiments, the electricity providing means may be includedwithin the rail, attached to the outside of the rail, adjacent to therail, or any other appropriate design. According to some embodiments,the electricity providing means may provide electricity to the mobileunits, as well as to any other mobile or stationary entities.

Similarly to the means for providing electricity by the rail, electronicwires may be included in the system, such that electronic commands areforwarded to the mobile units via the rail. Therefore, throughout, thedescription regarding the rail directed to electricity transfer is meantto include electronic data transfer as well, when applicable.

According to some embodiments, the rail is assembled on the same rampupon which the livestock move, and therefore, the rail is prone to getboth wet and dirty. Thus, if the rail includes means for providingelectricity to the mobile units, those means must be designed to beliquid-proof, so as to prevent electricity shorts and the like. The railand the electricity providing means may further be designed to preventliquids or undesired solids and contaminants from entering certain partsor elements of the rail/electricity providing means. According to someembodiments, the positive and negative poles of the electricityproviding means may be designed to be at a minimal distance, such as toprevent the entrance of liquids into the space between the two.According to some embodiments, the electricity providing means have alabyrinth shape, so as to prevent, or at least minimize, theintroduction of liquids, undesired solids and contaminants into theelectrical systems. According to some embodiments, the electricityproviding means may include a pickup unit, such as a brush, which isdesigned to contact a metal strip. According to some embodiments, themetal strip is installed along the ramp, possibly under the rail, whilethe pickup unit, such as a brush, is attached to a mobile unit, or anyother entity moving along the rail. It is noted that electricity may beprovided to the mobile unit at all times, both when mobile and whenparked, as necessary. The electricity may also be cut off at anyappropriate times, e.g., during maintenance, or when no treatment isbeing performed and the like.

According to some embodiments, the rail includes an internal housingunit through which the electricity is provided to the mobile unit, e.g.,via contactors. According to some embodiments, a gliding cart ispositioned in the internal housing unit and is attached by a rod or thelike to the mobile unit. According to some embodiments, the gliding cartand the rod are prepared from a conductive material (either the same ordifferent materials), wherein the gliding cart receives electricity byany appropriate means inside the internal housing unit, such ascontactors and the like. The electricity may be passed from the glidingcart via the rod to the mobile unit, thereby activating any appropriatemotors in the mobile unit. When the mobile unit moves forward orbackwards along the rail, it may essentially move together with thegliding cart since they are connected to one another via the rod or thelike. Thus, according to some embodiments, the gliding cart provideselectricity to the mobile unit, while the mobile unit provides mobilityto the gliding cart, which, according to some embodiments does notinclude its own motors and therefore, moves together with the mobileunit.

According to some embodiments, in order to prevent water and othercontaminants from entering the electric system in the internal housing,the rod may pass through a water block, a rubber stopper, and the like,or any combination thereof. Further, according to some embodiments, therod, which is isolated, enters the internal housing via a labyrinthshaped element, thereby preventing the entrance of water or othercontaminants into the internal housing unit.

Other than electricity, the rail, or any sections thereof, may includeelements for communicating and/or giving commands to any components inthe system, including the mobile units. According to some embodiments,the rail includes means for specifically and accurately defining theposition of the mobile units moving thereon and/or of any other entitiesin the milking parlor.

It if further noted that, although the rail is described herein as anelement for guiding mobile units, it may be used for transporting anyother elements, devices and/or substances, such as to convey water orany other liquid along the ramp, and the like. For example, a reservoirof pre- or post-milking disinfection liquid may be conveyed along therail, where it may be reached, e.g., by any one of the mobile unitsperforming the pre- or post-milking tasks. According to someembodiments, any sections of the rail may include elements such as aconveyer belt for conveying the mobile units, or any other entities,from one point to another. Hoses, pipes, conduits and the like may alsobe stretched along the rail or any parts thereof, wherein any liquid,such as water and the like, may be provided as required through suchhoses/pipes/conduits.

According to some embodiments, the rail may include a self-cleaningmechanism. According to some embodiments, the ramp includes means forcleaning the rail. According to some embodiments, cleaning elements maybe attached to or integrated into any sections of the rail. According tosome embodiments, cleaning elements may be attached to or integratedinto any of the components, e.g., mobile units, or designating cleaningunits, that travel along the rail. According to some embodiments,cleaning equipment, which is part of the milking parlor, may be used forcleaning the rail. According to some embodiments, in a rotary milkingplatform, cleaning liquid sprayed from a stationary nozzle may be usedto clean the rail. According to some embodiments, if the rail is raisedabove the ramp, it is possible to clean under the rail. The rail, itssurroundings, and in some embodiments, the area under the rail, may becleaned by any appropriate means, including manually, automatically,mechanically or electronically. Further, the rail, its surroundings andin some embodiments, the area under the rail may be cleaned at anyappropriate time, e.g., at pre-defined times or when required, asdetermined according to any appropriate sensors, which may be part ofthe ramp/milking parlor/mobile unit or the like, or according todecisions made by human operators.

It is further noted that since the milk may be milked directly into themain milk-line and further, since several mobile units may be used, asdetailed below, the efficiency of the system of the invention, measuredin milk yield per hour, is higher than in prior art systems in whichmilk needs to be transferred from one or more storage vessels to themain milk-line, and/or when only one operator (robotic or other) isimplemented. It is further noted, that, as detailed herein, the arm ofthe mobile unit has relatively small dimensions, since it needs to fitand maneuver under the livestock. Further, since the arm may remainmainly within “non-kick” zones and further, may include a safetymechanism, as detailed herein, it is not required to be robust. Smallarms may perform quick maneuvers, even if equipped only with smallmotors, which may also contribute to a high milking yield. It is furthernoted, that as detailed herein, a number of mobile units may coordinatewith one another, possibly via a central management system or any otherappropriate element, such that the speed required from each mobile unitmay also be reduced.

It is further noted that, as detailed herein, the mobile units remain onthe ramp or in other designated areas, such as parking areas, and do notenter non-designated areas, e.g., the milking pit. Accordingly, humanoperators may safely access any other region of the milking parlor,including the milking pit, as detailed herein, which may be essentialfor treating any mobile unit malfunctions, as well as livestock thatneed manual treatment and the like. It is further noted that since thearm of the mobile unit is not robust, even if contacted or collided witha human operator or with any other elements in the milking parlor, theoutcome may not be hazardous.

According to some embodiments, the arm of the mobile unit extends intothe milking pit at predetermined times and/or up to predetermineddistances. In order to provide safety to humans in the milking pit, thesystem may include safety means, preventing the entrance of a human intothe part of the milking pit in which the mobile unit arm may reach. Thesafety means may be stationary or may move, such that when the armenters the pit, or at times in which the arm may enter the pit, thesafety means are in positioned to block contact between human operatorsand mobile units, while when the arm does not enter the pit, or at timeswhen it will not enter the pit, the safety means may be positionedotherwise. For example the system may include a barrier that ispositioned in the milking pit, at the maximal distance that the arm mayextend into the milking pit. According to some embodiments, the barriermay change positioned, according to any received signals, such that whenmobile unit arm may enter the milking pit the barrier is in place,blocking contact between human operators and the arm of the mobile unit,while at other times it is lifted or removed by any other appropriatemeans. It is noted in this respect that, when required, any element ofthe mobile unit, not only the arm, may extend into the milking pit,which remains safe for humans as detailed above.

According to some embodiments, if any part of the mobile unit, teat cupholders or the like is positioned, at least at certain times, innon-designated areas, such as the milking pit, safety mean may beincluded in the system as detailed above, such that when any part of themobile unit, teat cup holder or the like, moves, a human operator foundin the non-designated area will not be harmed. For example, a bar mayseparate between the human operator and the mobile unit, teat cupholder, and the like. The bar may have several positions, as necessary.Any other covers, barriers, and the like may be used in order to allowthe human operator to safely be in the same area as at least part of themobile unit, teat cup holder and the like. For example, the back o theteat cup holder may be covered, such that, even when various elementsthereof move, a human operator would not be harmed.

An embodiment of a system may include a maintenance area (related toherein also as a maintenance pit) for servicing mobile units. A mobileunit may travel from a guide or rail to a service or maintenance area. Afirst mobile unit may be adapted or caused to complete an action that atleast one other mobile unit failed to complete. A mobile unit mayinclude sensors and/or treatment units.

According to some embodiments, the system includes a parking area forthe mobile units. The parking area and the maintenance area may be thesame, different or overlapping areas. According to some embodiments,while the livestock enters the ramp/platform, the mobile unit remainsstationary in the parking area. Once the livestock have finished beingpositioned in the stalls, the mobile unit leaves the parking area andenters the ramp, in order the treat the cows, as described herein. Thus,when the livestock are mobile, the mobile units may remain stationary,e.g., in the predefined parking area, and when the mobile units aremobile, the livestock remain relatively stationary, e.g., confined tothe predefined areas of the stalls. Once the mobile units finishperforming their task, e.g., milking, they may return to the parkingarea. Once the mobile units are in the parking area, the livestock maybe allowed to leave the stalls. The designated parking area may be largeenough to park as many mobile units as may be used in the particularmilking parlor. Such a setup minimizes collisions between the livestockand the mobile units, as well as any possible fright that might becaused to the livestock, due to the movements of the mobile units.According to some embodiments, the rail that stretches along the rampreaches, by extended length or by a branch/loop in the rail, or thelike, into the parking area, such that the mobile units may easily movealong the rail from the ramp into the parking area and vice versa.According to some embodiments, the rail may be designed to include anynumber of loops, U shapes and the like, within the parking area in orderto allow a plurality of mobile units to be positioned thereon.

An embodiment of a system may include a central management unit adaptedto instruct or cause a mobile unit to perform an action and/or tocoordinate the operation of various elements in the system with oneanother, including the coordination of a plurality of mobile units. Itis noted that a plurality of mobile units may be used to simultaneouslytreat more than one animal. It is further noted that any one of themobile units in a plurality of mobile units may preform part of thetreatment of the livestock, while other mobile units perform other partsof the treatment. It is further noted that each one of the mobile unitsmay fully treat one of the animals, while the other mobile units treatother animals. Thus, by using a plurality of mobile units, theefficiency of the system may be optimized, regarding the time necessaryfor completing the treatment, the amount and type of equipment any oneof the mobile units is required to use or carry and the like.

If any one of the mobile units is intended to perform a certain task,possibly part of the overall required treatment, that mobile unit may befitted with any appropriate equipment. Thus, not all mobile units mustbe identical to one another. For example, the end of the arm of eachmobile unit may be fitted with an appropriate arm element, possibly atthe distal end of the arm. For example, any one of the mobile units maybe fitted with cleaning/disinfecting equipment, including brushes,hoses, nozzles, valves, cleaning or disinfecting liquids and the like.For example, any one of the mobile units may be fitted with an armelement that may grip equipment, such as teat cups, brushes and thelike. According to some embodiments, such an arm element is related toherein as a gripping element, gripping unit or the like.

According to some embodiments, the arm element, or any other detachableequipment on the mobile unit, may be attached/detached from the mobileunit when necessary, e.g., by a human operator, by another mobile unit,by the mobile unit itself, or by any other entity in the milking parlor.Changing the equipment may be before, during or after the treatment ofthe livestock. Changing the equipment may change the role of the mobileunit in performing the treatment task, or may replace equipment that hasmalfunctioned, or replenish substances that need to be replenished.According to some embodiments, the role of the mobile unit may bechanged in order to optimize the treatment, such that any of the mobileunits may take over part of a task of another mobile unit, which, forsome reason, is held up with the task it was required to perform or hasmalfunctioned.

According to some embodiments, any one of the mobile units may includereplacement arm elements as well as replacements for any otherdetachable elements on the mobile unit and stores of replenishablesubstances. According to some embodiments, replacement elements,including arm elements and stores of replenishable substances, may beplaced in any appropriate position in the milking parlor, including aparking area, the stalls, the ramp, the milking pit, as well as at anyelevated point in the milking parlor, e.g., above the ramp, and thelike. According to some embodiments, any one of the mobile units mayleave equipment in any appropriate location, e.g., a holder in a stallor at a pre-designated location outside of the stall, for another mobileunit (or other entity) to use.

Any one of the detachable elements, including arm elements, may receiveelectricity, substances, such as sanitizing liquids, and the like viathe mobile unit. Further, any one of the detachable elements, includingarm elements, may receive commands from the mobile unit it is attachedto, from any one of the other mobile units, from a central managementunit or the like.

According to some embodiments, any two mobile units may be configured tocommunicate directly with one another, with a central management unit,or both. According to some embodiments, a central management unit mayrelay signals from one mobile unit to another. The central managementunit may be positioned at any appropriate position in the milking parlorand may be either mobile or stationary. According to some embodiments,the central management unit is physically attached to any one of themobile units. According to some embodiments, the central management unitmay include a plurality of control units, each positioned as required,e.g., on a mobile unit or at any appropriate position in the milkingparlor.

It is noted that the communication between the mobile units, directly orindirectly, via, e.g., control units attached to any of the mobileunits, one or more central management units, or any other communicatingentities in the milking parlor, may optimize the treatment of thelivestock, enabling the various mobile units to perform different partsof the same task, to treat different animals, to take over tasks fromone another when required, e.g., when one mobile unit malfunctions, tochange roles before, during or after the treatment, to refrain fromcolliding and the like.

According to some embodiments, the communication between the variousmobile units with one another and/or with the central management unitand/or control units, and/or with any other appropriate elements in thesystem/milking parlor may be wireless or may be via wires or at leastpartially so. According to some embodiments, communication wires may beincluded, at least partially, in a rail, or attached thereto. Accordingto some embodiments, wireless communication may be transferred by anyknown means, such as RF, Bluetooth, WiFi, and the like.

Any one of the mobile units, control units, central management units,and the like, may assign tasks to any one of the mobile units, as wellas to any other appropriate entities in the milking parlor, for example,a bar distancing human operators from the mobiles units' path, asdetailed herein.

One embodiment is directed to a system in which at least one of aplurality of mobile units includes a camera and/or laser scanner, sonarscanner, radio wave scanner or radar device for obtaining datacomprising an image of the livestock and/or for identifying any regionof the livestock, wherein the system comprises a computing device forprocessing the data to determine a location of an organ of the livestockwith respect to a marking on the ramp.

According to some embodiments, the arm of the mobile unit comprises anarm that includes a gripping unit. The gripping unit may be designatedto withdraw teat cups from the holders and attach them to the animal.Once attached, the gripping unit may be detached from the teat cups andpossibly, the mobile unit may move to a different location, e.g., fortreating a different animal. As detailed herein, the gripping unit mayfurther be designed to grip any other necessary equipment for pre- orpost-milking processes, such as a sanitizing brush, sanitizing fluidreceptacle, and the like.

According to some embodiments, the gripping unit includes a multiplegripper, i.e., a gripper that may simultaneously grip a multiple numberof objects. According to some embodiments, the gripping unit includes adouble gripper, i.e., a gripper that may simultaneously grip twoobjects. According to some embodiments, any one of the grippers may bedesigned to grip an object, to press a button on any appropriate object,e.g., in order to cause that object to perform a certain operation, torotate any part of an object, to squeeze any part of an object, and thelike.

According to some embodiments, the gripping unit includes a lengthwisedouble gripper that includes two gripping elements. According to someembodiments, the lengthwise double gripper essentially simultaneouslygrips two teat cups that are positioned one behind the other in theholder, and attaches them one after the other to the animal's teats,wherein the back teat cup is attached to the back teat first and onlythen is the front teat cup attached to the front teat. It is noted thatin this respect, the front of the holder is considered to be the side ofthe holder facing the animal and the front teat cups are the teat cupsclosest to the front of the holder. Further, the front teats are theteats closest to the head of the animal. According to some embodiments,there are two rows of teat cups in the holder, a front row and a backrow, wherein each row comprises two teat cups. The lengthwise doublegripper may simultaneously grip two teat cups, one form the front rowand one from the back row, and attach them to the animal, as detailedherein. Once the first two teat cups are attached to the animal, thelengthwise double gripper may return to the holder to grip the next twoteat cups, also, one from the front row and one from the back row, andso on. In order for the lengthwise double gripper to be able to grip twoteat cups at the same time, withdraw them from the holder and attachedthem to the animal's udder one at a time by releasing them one at a timefrom the lengthwise double gripper, the lengthwise double gripper isdesigned so that the two grippers may work together or independently,depending on the action necessary for the lengthwise double gripper toperform.

According to some embodiments, as detailed herein, the front teat cupsare on a first step and the back teat cups are on a second step, whereinthe first and second steps are positioned at different heights andwherein there is a difference in length between the front in back teatcups that is about the same as the difference in heights between thefirst and second steps. Thus, the lengthwise double gripper may grip onelong (front) and one short (back) teat cup, and may further first attachthe short teat cup to the back teat and then attach the long teat cup tothe front teat.

According to some embodiments, the teat cups comprise more than onegroove, hook, handle and the like, which are designed such thatlengthwise double gripper may easily grasp the teat cup. According tosome embodiments, the teat cups comprise two grooves, such that thelengthwise double gripper is able to properly grip two teat cups at atime, attaching them to the udder one after the other, which includesreleasing them from the lengthwise double gripper one at a time. The twogrooves may be about 0.5-2.0 cm apart from one another. According tosome embodiments, the grooves cover the full circumference of the teatcups, while according to other embodiments, they are designed to be onlyon part of the circumference. According to some embodiments, the groovesare helical.

It is noted that the force required from any of the grippers to grip anyappropriate equipment may be provided by an ex-center mechanism, therebyallowing a firm grip while using a relatively small motor. According tofurther embodiments, the arm and/or gripper will include a releasemechanism, enabling the release of the equipment when necessary, e.g.,when no longer in use or when a malfunction occurs.

As detailed herein, the lengthwise double gripper may be designed togrip any appropriate equipment, including teat cups, pre-milkingequipment and post-milking equipment. Embodiments of the invention aredirected to an autonomous pre-milking brush. According to someembodiments, the autonomous pre-milking brush both sanitizes the teatsand stimulates the milk release from the udder. According to someembodiments, the autonomous pre-milking brush includes any number ofbrushes that may move, e.g., rotate, such as to sanitize and stimulatethe teat. According to some embodiments, the autonomous pre-milkingbrush includes one, two, three or four rotating brushes. According tosome embodiments, the autonomous pre-milking brush includes two rotatingbrushes, which are operated such that the teat is positioned in betweenthe two brushes.

According to some embodiments, the autonomous pre-milking brush isoperated by electricity. According to some embodiments, electricity isprovided to the autonomous pre-milking brush by any appropriate electriccable or by a battery, possibly rechargeable, which is included in theautonomous pre-milking brush assembly. According to some embodiments,the autonomous pre-milking brush may be part of or attached to the teatcup holder. According to some embodiments, the autonomous pre-milkingbrush is part of the stall or ramp assembly. According to someembodiments, there is an autonomous pre-milking brush designated foreach stall. According to other embodiments, an autonomous pre-milkingbrush may be used for a number of stalls. According to some embodiments,the autonomous pre-milking brush is held in a holding port that is partof the teat cup holder, attached to the teat cup holder, part of thestall, ramp, or the like.

According to some embodiments, the autonomous pre-milking brush iscoupled to or comprises a rechargeable battery. Means for recharging thebattery may be found where the autonomous pre-milking brush ispositioned when not in use, e.g., the holding port. For example, arecharger may be attached to or included in or on the teat cup holder.For example, a recharger may be positioned in any appropriate locationin any one of the stalls, between any two of the stalls, in the milkingpit or the like, as long as both the mobile unit and a manual operatormay reach the autonomous pre-milking brush when necessary. According tosome embodiments, the autonomous pre-milking brush includes a chargingsocket through which the autonomous pre-milking brush is charged whenattached to the recharger, which is, e.g., an element of the teat cupholder, an element positioned in or between the stall, in the milkingpit or the like. According to some embodiments, the charging socket iswater proof.

According to some embodiments, the autonomous pre-milking brush is heldand operated by the mobile unit. According to some embodiments, theautonomous pre-milking brush is held and operated by a human operator.According to some embodiments, the location of the autonomouspre-milking brush is set such that either a human operator or a mobileunit may reach it, grab the part of the autonomous pre-milking brush tobe used for sanitizing and stimulating the animal, and move it to theanimal's udder and utilize it. According to some embodiments, theautonomous pre-milking brush comprises grooves, handles, notches,indentations, hooks and the like, possibly similar to those of the teatcups, thus allowing the same lengthwise double gripper to utilize theautonomous pre-milking brush.

According to some embodiments, the autonomous pre-milking brush includesa magnetic sensor, a switch, a button, or the like, for turning it on,e.g., for causing the brush/es to rotate. According to some embodiments,the same sensor/button/switch or another sensor/button/switch, or anyother appropriate means, which may be on-site or remote, may be used tooperate a nozzle, or the like, to spray disinfectant/water on theautonomous pre-milking brush. According to some embodiments, the nozzle,or the like, is an element of the teat cup holder, such thatessentially, the autonomous pre-milking brush is sprayed withwater/disinfectant, by an element of the teat cup holder. Thus,according to some embodiments, the teat cup holder includes an elementfor spraying the autonomous pre-milking brush with water/disinfectant.According to some embodiments, the autonomous pre-milking brush issprayed with disinfectant/water while in its holding port, possiblylocated on the teat cup holder or in its vicinity. According to otherembodiments, the autonomous pre-milking brush is sprayed withdisinfectant/water after it is withdrawn from its holding port.According to some embodiments, the disinfectant disinfects theautonomous pre-milking brush and further, wets the autonomouspre-milking brush, such that the autonomous pre-milking brush is readyto use for mechanically cleaning and stimulating the teats, by rotatingthe wet brush on the teats. According to some embodiments, thedisinfectant used is such that it disinfects the brush itself, notnecessarily the teat, due to the rapid action of the disinfectant.However, rotating the wet, disinfected brush on the teat disinfects theteat and further, stimulates milk release.

According to some embodiments and unlike other known systems, thevarious elements of the system of the invention, including theautonomous pre-milking brush, may be both manually and roboticallyoperated.

Embodiments of the invention are further directed to a post-milkingdisinfection tool and filling station. According to some embodiments,the post-milking disinfection tool includes a dipping chamber and afilling detection element, wherein the dipping chamber is filled with adisinfectant. According to some embodiments, the post-milkingdisinfection tool further comprises a brush. According to someembodiments, the brush is positioned, at least partially, around theentrance of the dipping chamber, such that when the animal's teat isdipped into the dipping chamber, it passes through the brush, such thatit is brushed thereby, thus ensuring that the disinfectant found in thedipping chamber is brushed and spread onto the teat. Further, sincefilled in a filling chamber, no tubes or the like are necessarilyattached to the post-milking disinfection tool, thus, the post-milkingdisinfection tool is considered to be an autonomous post-milkingdisinfection tool.

According to some embodiments, the filling detection element detectswhether the dipping chamber is full, whether it needs to be filled orany other possible parameter allowing the system to fill the dippingchamber when necessary. According to some embodiments, the fillingdetection element is electronic. According to other embodiments, thefilling detection element is mechanical. According to some embodiments,the filling detection element merely detects when the dipping chambershould be filled, while according to other embodiments, the fillingdetection element monitors the amount of disinfectant in the chamber andalerts the system when a minimal predefined amount is reached. Accordingto some embodiments, the filling detection element is a float. Accordingto some embodiments, the height of the float is detected by a detectionelement on the mobile unit, e.g., and IR sensor. According to someembodiments, when the height of the float is below a predefined height,the dipping chamber is filled.

The dipping chamber may be filled by any appropriate means at anylocation in the milking parlor. According to some embodiments, thedipping chamber is filled at a designated filling station. According tosome embodiments, the system includes more than one filling station.According to some embodiments, there is a filling station for eachstall. According to some embodiments, there is a filling station forevery few stalls. According to some embodiments, the filling station ispositioned in the stalls, in between the stalls, in the milking pit,partially in the stalls and partially in the milking pit, or at anyother appropriate location. According to some embodiments, the fillingstation is positioned at about the height of the pelvis of the animals,and is positioned between two animals, such that the filling stationseparates between the two animals and further, is not located where theanimal's legs may hinder the use thereof. According to some embodiments,the filling station is also a holding station, wherein the post-milkingdisinfection tool is held when not in use.

According to some embodiments, the post-milking disinfection tool isused by the mobile unit. According to some embodiments, the mobile unittakes the post-milking disinfection tool from the filling station whennecessary, sanitizes the animals' teat therewith after milking, andreturns the post-milking disinfection tool to the filling station whenfilling is necessary and/or when the post-milking disinfection processis concluded.

According to some embodiments, the post-milking disinfection tool isgripped by a gripping element attached to the arm of the mobile unit.According to some embodiments, the post-milking disinfection tool isgripped by the double gripper, as described herein. According to someembodiments, the post-milking disinfection tool includes grooves, hooks,handles and the like, as described regarding the teat cups herein, inorder to allow the gripper to grip the post-milking disinfection tool.According to some embodiments, of the grippers of the double gripperholds the post-milking disinfection tool, while the second gripperactivates the filling of the dipping chamber by, e.g., pressing orrotating a button or the like. The button may be part of thepost-milking disinfection tool or of the filling station. According tosome embodiments, the filling of the dipping chamber is via a mechanicalvalve that is pressed, rotated or the like. According to someembodiments, the filling of the dipping chamber is via an electronicvalve that is activated by an electronic switch, a magnetic sensor, amotion detector, a metal detector, an electro-optic sensor or the like.The mechanical/electronic valve may be activated by any one of thegrippers, by any other elements on the mobile unit, by elements on theteat cup holder, by a human user, electronically from a remote device orby any other appropriate means.

According to some embodiments, like the remaining elements in thesystem, the post-milking disinfection tool may be used manually as wellas robotically. In addition, since the post-milking disinfection toolincludes a dipping chamber such that the teat of the animal is dipped inthe disinfectant, the amount of disinfectant wasted is reduced incomparison to most systems in which the disinfectant is sprayed onto theanimals' teats.

Further embodiments of the invention are directed to a non-planar legseparator that is positioned on the ramp, particularly on the floor ineach stall approximately in the center between the hind legs, in orderto cause the animal to separate its hind legs. Leg separators are knownin the art and are used for separating the animals' hind legs in orderto allow the robotic arm to easily access the animal's teats.Accordingly, the leg separators are designed such that the animal isuncomfortable standing on them, and therefore, will position its hindlegs on the sides of the leg separator, not on the separator itself,thus separating its hind legs. According to embodiments of theinvention, any number of non-planar leg separators may be positioned onthe ramp, e.g., in each one of the stalls that animals may occupy and betreated, e.g., milked. According to some embodiments, any number ofnon-planar leg separators may be included in any one of the stalls. Forexample, any one of the stalls may include one relatively large legseparator or a number of smaller leg separators. For example, the numberof leg separators in any stall may be different from the number of legseparators in any of the other stalls.

However, the systems known in the art include chambers into which theanimals enter without needing to step on the leg separator, just to stepand stand on the two sides of it. As detailed herein, the system of theinvention may be used in a parallel milking parlor; accordingly, theanimals walk through several stalls before reaching their designatedstall. Once reaching their designated stall, they turn about 90° to bepositioned for milking and/or any other treatment. Thus, if legseparators are located on the ramp, i.e., on the floor in each stall,the animals will continuously walk on them, which would be uncomfortablefor them. Thus, when working in a parallel milking parlor the legseparators may be designed such that the animals may comfortably walkover them, while they are at the same time uncomfortable to stand on andtherefore, are affective in causing the animal to separate its hindlegs.

Thus, embodiments of the invention are directed to a non-planar legseparator, which is designed such that when the animal walks through thestall, the first and last parts of the non-planar leg separator areabout flush with the ramp, i.e., the same height as the ramp, while themiddle of the non-planar leg separator is elevated. According to someembodiments, the non-planar leg separator may include any number ofarches, either depressed or elevated, steps, triangular shapes, V-shapesand the like, such that an animal may easily walk over the non-planarleg separator, while after rotating about 90° in the stall, the animalwill be uncomfortable standing on the leg separator and will therefore,separate its hind legs. According to some embodiments, electronic,mechanic and/or manual means may change the position of the non-planarleg separator after the animal is positioned in the stall and turnsabout 90°. Accordingly, the leg separator itself may be flat, though israised from the ramp after the animal turns about 90°, therebyseparating the animals' hind legs.

According to some embodiments, the non-planar leg separator includesrods and spaces between the rods, wherein the size of the rods, the sizeof the spaces, the shape of the rods and the like are designed in orderfor the animal to easily walk over the non-planar leg separatorsideways, while after turning about 90° in the stall, the animal isuncomfortable standing on the non-planar leg separator and thereforeseparates its hind legs. According to some embodiments, the non-planarleg separator includes cross-bars that connect that rods one to anotherand/or to the sides of the non-planar leg separator, such that thenon-planar leg separator is sturdy and does not become deformed when,e.g., stepped on by an animal. According to some embodiments, any partsof the non-planar leg separator, including the rods, the cross-bars, theframe and the like, are textured to any appropriate degree in order toprevent the animal from slipping when placing a hoof on the non-planarseparator; however, the texturing of the various elements is such thatit is not harmful to the animal.

According to some embodiments, the diameter of any one of the rods isbetween about 10-30 mm, wherein the diameters of the rods areindependent from one another, such that any two rods may have adifferent diameter. According to some embodiments, the number of rods isbetween about 4-10. According to some embodiments, the height differencebetween any two rods is between about 2-20 mm.

Reference is made to FIG. 1 that shows an exemplary system 105 accordingto embodiments of the invention. As shown by FIG. 1, system 105 mayinclude a walkway or ramp 130, an enclosure, fence or stall 120 forcontaining and/or confining livestock (e.g., containing cow 110 asshown) and a mobile unit 140. In an embodiment of the invention, mobileunit 140 may be a mobile robot designed to travel on ramp 130 and underthe livestock (e.g., under cow 110 as shown in FIG. 1). For example,mobile unit 140 may be designed and manufactured such that it freelytravels under, and between the front and hind legs of the livestock. Inthis respect it is noted that FIG. 1 presents a side view of a crosssection of ramp 130, such that mobile unit 140 is intended to enter thearea between the front and hind legs of the livestock from the side,i.e., from the left or right of the animal confined to stall 120.

Various models of mobile unit 140 may be contemplated, for example, amodel used for goats may be smaller than one used for cows. In oneembodiment, mobile unit 140 is adapted for treating cows. Assuming aspace of up to about 60 centimeters in height is available under anaverage cow, mobile unit 140, including an attached arm, may be designedsuch that it can freely travel through a space that is about 50centimeters in height. Mobile unit 140 may be designed such that it cantravel between the fore and hind legs of a cow. Accordingly, mobile unit140 may be small enough in size to travel under cows standing on a ramp,as described.

Including a small mobile unit 140 as described, embodiments of theinvention enable advantages that cannot be achieved by systems andmethods known in the art. As discussed above, robotic milking machinesknown in the art use an arm that is based (or extends from) outside thestall containing the livestock. During operation, such an arm needs toextend into the stall and under the livestock, e.g., in order to attacha milking unit. An arm extending from outside the stall may harm thelivestock when traveling, since its path may collide with the livestock,e.g., the legs of a cow in the stall. Moreover, the distance traveled byan arm based (or extending from) outside the stall is relatively long.

Designed to fit, and operate, under the livestock, and travel betweenthe legs of the livestock, mobile unit 140 as described hereineliminates some of the above mentioned drawbacks. For example, asfurther described herein, mobile unit 140 may travel to a location underthe livestock from the side of the livestock, thus, entering a locationbetween the fore and hind legs along a path such that it does notcollide with the legs of the livestock.

Embodiments of the invention enable treating livestock by a system thatminimizes the movement or distance traveled by an arm. For example,movement of arm 215 may be minimal, e.g., extending from under the cowto a housing of a milking unit that may be in close proximity.

Reference is made to FIG. 2A, schematically showing a mobile unit 140according to embodiments of the invention. As shown, mobile unit 140 mayinclude wheels 210 enabling it to travel, e.g., on ramp 130 asdescribed. It will be understood that other means for enabling amobility of mobile unit 140 may be used. For example, instead of wheels210, mobile unit 140 may be equipped with continuous tracks (e.g., asused in bulldozers). Further, ramp 130 may be equipped with means fortransporting mobile unit 140, such as a conveyer belt, a chained trackand the like.

As shown, mobile unit 140 may include an arm 215 having joints 220,wherein arm 215 is connected to main body 144 of mobile unit 140.According to some embodiments, arm 215 is connected to main body 144 viaarm base 225. Although FIG. 2A shows arm 215 as being centricallypositioned on main body 144, it is noted that arm 215 may be positionedand connected to main body 144 at any appropriate position, including aneccentric position. The eccentric positioning of arm 215 may allow thesame mobile unit 140 to be used for treating different sized livestock,relating both to the livestock's length and height, as well as to reachfarther in one direction than in the other, as required. As shown, arm215 may include a gripping unit 250, a set of sensor units 230 and a setof treatment units 240. Arm 215 may be designed such that it may extendand rotate such that gripping unit 250, sensor units 230 and treatmentunits 240 may be placed at a chosen location and/or orientation. Forexample, although not shown, mobile unit 140 (or arm 215) may includeelectric motors adapted to move, rotate and/or extend arm 215 such thatgripping unit 250, sensor units 230 and treatment units 240 are broughtto a selected location and/or orientation. Although not shown, it isnoted that, as detailed herein, gripping unit 250 may be replaced by anyother required equipment. According to some embodiments, any of theequipment on mobile unit 140 may be detachable, such as gripping unit250, sensors 230 or treatment units 240, such that they may be replacedby other units, either of the same or different type.

According to some embodiments, arm 215 is in a folded configurationwhile mobile unit 140 is in a mobile mode, e.g., moving from one stallto the next, into the first stall or out of the last stall. Once mobileunit 140 positions itself in a work mode, between the fore and hind legsof the livestock, arm 215 may transform into an unfolded configuration,wherein the length, height, position and orientation of arm 215 dependon the specific livestock under which it is positioned, the operation itis to perform, its orientation in respect to any type of equipment it isintended to use and the like.

Gripping unit 250 may be any unit adapted to selectively hold andrelease an object. For example, gripping unit 250 may be adapted to holda teat cup, e.g., while removing it from the holder and attaching it tothe animal, further, gripping unit 250 may be adapted to release theteat cups, e.g., after they are attached to the animal. It is noted thatthe while teat cups and/or gripping unit 250 may be designed to beattached to the animal in an assembly of two or four teat cups, the teatcups may also be designed to be attached to the animal in a singularmanner, one after the other, according to any appropriate sequence.

Sensor units 230 may include any sensing device, system or module. Forexample, sensing units 230 may include a camera, laser scanner, sonarscanner, radio wave scanner, radar or any other appropriate device, foracquiring an image of an organ of an animal (e.g., in order to identifythe animal) and/or for identifying any region of the animal, possiblyassessing the position of that region in space. In an embodiment of asystem, sensing units 230 may include sensors for testing for pregnancy.Testing for pregnancy using an ultrasonic sensor is known in the art.For example, in an embodiment of a system, sensor units 230 include anultrasonic sensor used in order to test livestock for pregnancy whereinthe actual testing may be performed as known in the art. In the same orother embodiment of a system, sensing units 230 may include sensors forcapturing a heartbeat of a fetus. Any other sensors may be included insensing units 230.

Treatment units 240 may include any applicable device, system or module.For example, treatment units 240 may include a washing unit adapted towash an organ (e.g., washing the udder of an animal before or aftermilking). For example, mobile unit 140 may include an assembly includinga tank or container that contains liquid (e.g., water, solvent or otherliquid solution). The assembly may include pipes to run the liquid fromthe tank to jets on nozzles included in treatment units 240. Theassembly may include a pump to force liquids from a liquid containerthrough the pipes and jets.

An assembly included in mobile unit 140 as described herein may be usedfor cleaning or washing any object. For example, arm 215 may bepositioned such that jets in treatment units 240 are directed downwards,at a floor. For example, mobile unit 140 may wash the floor of ramps 130and 405 described herein.

Sensor units 230 may include a thermometer for determining a temperatureof the livestock or a temperature of an organ of a livestock. Forexample, udder infections may be identified or detected for example bymeasuring the temperature of the udder. Any data collected by sensorunits 230 may be stored on mobile unit 140, may be processed by acontroller included in mobile unit 140 as described herein and/or may besent to a remote computer using communication components included inmobile unit 140 as described herein (e.g., with reference to FIG. 3, asdetailed below).

For the sake of simplicity and clarity, various elements that may beincluded in mobile unit 140 are not shown in FIG. 2A. For example, wiresproviding electric power to arm 215, sensor units 230 and treatmentunits 240 may be included, but are not shown. Other elements, e.g.,wires carrying digital data or signals to/from sensor units 230 andtreatment units 240 are not shown. Other elements included and not shownmay be pipes or conduits used for running liquids (e.g., liquids usedfor washing or disinfecting). For example, mobile unit 140 may includean assembly including a container that contains disinfectant liquid(e.g., iodine) and a pump for causing the liquid to be transferred fromthe tank and sprayed on an udder of an animal through nozzles or jets ina disinfecting unit included in treatment units 240. Included also maybe any types of syringes, test tubes, slides, scissors, forceps and thelike, which enable the operator to perform any type of desiredtesting/treatment. Further, the mobile unit may include any type ofsafety mechanism. Such a safety mechanism may protect the mobile unitagainst possible collisions. The safety mechanism may further protectthe mobile unit against possible kicks from the livestock.

As detailed herein, the system may be configured such that the mobileunit does not enter, or does not frequently enter, zones in which it ishighly probable that a livestock will kick. In this respect it is notedthat an analysis of livestock movements shows that dairy livestock, suchas cows, tend to kick strongly mainly backwards with their hind legs.Other kicks are also apparent, though are not as strong. Thus, thesystem is configured such that the mobile unit does not move behind thehind legs of the dairy livestock. Nonetheless, the mobile unit may stillbe kicked and further, may collide with other mobile and/or stationaryobjects and therefore, embodiments of the mobile unit may include asafety mechanism. According to some embodiments, the safety mechanism isincluded in arm 215. According to some embodiments, the safety mechanismis at base 225 of arm 215, where arm 215 is attached to mobile unit 140.However, the configuration of the system such that the mobile unit ismostly positioned in “non-kick zones”, allows arm 215 to be relativelysmall and light, since it is not required to withstand harsh blows.According to some embodiments, the mobile units are programmed torefrain from entering “kick zones” by any known means, which may beeither a physical part of the mobile unit, the ramp, or other elementsof the system, or electronic data transferred thereto when necessary byRF, Bluetooth, WiFi, and the like. According to some embodiments, themobile units include sensors that aid in directing them to “non-kick”zones. According to some embodiments, the ramp includes marks that relaydata to the mobile unit regarding zones that it may or may not enter.According to some embodiments, any types of barriers may be included onthe ramp to prevent the mobile unit from entering kick-zones, whereinsuch barriers, while affecting the movements of the mobile units, would,generally, not affect the movements of the animals on the ramp.According to some embodiments, a rail/guide is positioned on theramp/platform, such that mobile units moving along the rail/guide, donot enter kick-zones. The kick- and non-kick zones may be predefined,according to the regular use and movements of the livestock in themilking parlor.

According to some embodiments, the dimensions of the main body 144 ofthe mobile unit 140 are in the range of 20-100 cm (length)×25-55 cm(height)×20-60 cm (width). According to some embodiments, the weight ofthe mobile unit 140 is in the range of about 10-50 kg. According to someembodiments, the weight of the mobile unit is under about 40 kg.According to some embodiments, the weight of the mobile unit is underabout 30 kg. According to some embodiments, the weight of the mobileunit is under about 25 kg. According to some embodiments, the weight ofthe mobile unit is under about 20 kg. Embodiments allowing mobile unit140 to be both small and light weight, provide a mobile unit that iteasily treated by any operator, including a human operator. For example,if a mobile unit 140 malfunctions, an operator may simply manually liftit up off of ramp 130. The size of mobile unit 140 also enables it toeasily maneuver between the livestock's front and hind legs.Additionally, the smaller mobile unit 140 is, the less prone it will beto collisions with other stationary and mobile objects, including kicksfrom the livestock. A small sized mobile unit also provides safety tohuman operator as well as other elements in the milking parlor, sincecollisions with a small mobile unit may not be hazardous. Further, theparking or storage area, as detailed herein, necessary for small mobileunits is relatively small and therefore, existing areas in the milkingparlor can be used for storage/parking, without requiring additionalspace or rearrangement of the milking parlor.

Reference is now made to FIGS. 2B and 2C, presenting an embodiment of asafety mechanism that may be included in mobile unit 140, as describedin FIG. 2A, wherein FIG. 2B presents safety mechanism 260 in an engagedconfiguration while FIG. 2C presents safety mechanism 260 in adisengaged configuration. It is noted that certain elements appear onlyin one of the figures (e.g., elements 140 or 215 in FIG. 2A) though arerelevant to the other figures as well and therefore, the description ofa certain figure may include elements appearing in a different figure.Accordingly, all of the figures should be related to together.

The safety mechanism may be any appropriate safety mechanism known inthe art, which disengages top plate 261 from bottom plate 262 when anelement, such as arm 215, attached to the top plate 261 is hit. Space263 is formed by the disengagement of top plate 261 from bottom plate262. When space 263 is formed, elements attached to top plate 261, suchas arm 215, will not operate, until safety mechanism 260 is reengaged;however, the disengagement prevents irreversible damage to arm 215,mobile unit 140 and the like, since it allows top plate 261 to swivelfreely around an axis, such that the force of the blow is translatedinto rotational movement. Safety mechanism 260 may be reengaged by anyappropriate means, e.g., manually, electronically, automatically,according to predefined conditions, and the like.

According to some embodiments, in the engaged configuration, an element,such as a ball bearing, a pushpin, a protrusion, or the like (not shown)attached to top plate 261 protrudes into, e.g., a groove (not shown) inbottom plate 262, e.g., beneath one or more of springs 264. Whendisengaged, top plate 261 may rotate in respect to bottom plate 262,such that the ball bearing, pushpin, protrusion, or the like iswithdrawn from the groove in bottom plate 262. When reengaged, top plate261 may be rotated in respect to bottom plate 262, such that the ballbearing, pushpin, protrusion, or the like reenters the groove in bottomplate 262.

According to some embodiments, safety mechanism 260 is included in arm215. According to some embodiments, safety mechanism 260 is included inarm base 225. According to some embodiments, arm 215 is connected tomain body 144 by way of safety mechanism 260.

Reference is made to FIG. 3, schematically showing components that maybe included in mobile unit 140 according to embodiments of theinvention. As shown, mobile unit 140 may include a controller 310, amemory 315, a radio frequency (RF) receive/transmit (Rx/Tx) unit 335(also referred to as “RF unit 335” herein), a data storage unit 340,input/output (I/O) devices 345, a power source 320, a set of motors 325and a set of sensors 330. For the sake of simplicity and clarity, somecomponents that may be included in mobile unit 140 are omitted from FIG.3. For example, arm 215 and wheels 210 are not shown in FIG. 3. Powersource 320 may be any suitable power source for providing power to anycomponents of mobile unit 140. For example, power source 320 may be abattery that provides electric energy to motors 325, controller 310, RFunit 335 and/or other components included in mobile unit 140.Accordingly, mobile unit 140 may include an internal power source.According to other embodiments, mobile unit 140 receives electricityfrom any appropriate external source, connected to mobile unit 140,e.g., via power source 320.

Motors 325 may be electric motors that move and/or extend arm 215,rotate wheels 210 or drive other components included in mobile unit 140.Sensors 330 may be any suitable sensors. For example, sensors 330 may beadapted to sense light, infra red (IR) light, magnetic flux and thelike. For example and as described herein, a sensor included in sensors330 may sense a mark or markers on path or ramp 130 thus enabling mobileunit 140 to position itself at predefined locations on ramp 130 or torefrain from entering certain areas on ramp 130. Another example couldbe that sensors 330 sense that they are positioned correctly under theanimal, e.g., by detecting the shadow created by the animal's body, theheat produced thereby or the like, thus positioning mobile unit 140 asdesired.

RF unit 335 may be a component enabling mobile unit 140 to communicatewith any component in a system as described herein. For example, RF unit335 may be a WiFi (also spelled Wi-Fi or Wifi) component or deviceenabling mobile unit 140 to communicate with a management system or withother mobile units, e.g., in a system that includes a remote managementsystem and/or a plurality of mobile units 140 as described herein.According to other embodiments, the communication is via Bluetooth.

Controller 310 may be, for example, a central processing unit processor(CPU), a chip or any suitable computing or computational device. In someembodiments, more than one controller 310 may be used. For example, aplurality of controllers similar to controller 310 may be included inmobile unit 140.

Memory 315 may be or may include, for example, a Random Access Memory(RAM), a read only memory (ROM), a Dynamic RAM (DRAM), a SynchronousDRAM (SD-RAM), a double data rate (DDR) memory chip, a Flash memory, avolatile memory, a non-volatile memory, a cache memory or other suitablememory units or storage units. In an embodiment, memory 315 is anon-transitory processor-readable storage medium that storesinstructions and the instructions are executed by controller 310. Memory315 may be or may include a plurality of, possibly different memoryunits.

Executable code 316 may be any executable code, e.g., an application, aprogram, a process, software, a task or a script. Executable code 316may be executed by controller 310 possibly under control of an operatingsystem. For example, executable code 316 may be one or more applicationsthat control or manage components in mobile unit 140. For example, whenexecuted by controller 310, executable code 316 may cause controller 310to control or manage arm 215, treatment units 240, sensors 230, RF unit335, motors 325 and other components included in mobile unit 140. Whereapplicable, executable code 316, when executed by controller 310 maycause controller 310 to carry out operations described herein inreal-time. For example, controller 310 may be configured to update,process and/or act upon information at the same rate the information, ora relevant event, is received. Executable code 316 may include aplurality of executable code segments. For example, a first code segmentmay manage and/or interact with RF unit 335 and a second code segmentincluded in executable code 316 may control motors 325. Executable code316 may include an operating system (OS) that may be a commercialoperating system designed and/or configured to perform tasks involvingcoordination, scheduling, arbitration, supervising, controlling orotherwise managing operation of controller 310, for example, schedulingexecution of programs.

Data storage unit 340 may be any suitable system or device capable ofstoring digital information. For example, data storage unit 340 mayinclude a hard disk, a universal serial bus (USB) device, aCD-Recordable (CD-R) drive and media, a nonvolatile memory chip or anyother memory. Content may be stored in data storage unit 340 and may beloaded from data storage unit 340 into memory 315 where it may beprocessed by controller 310. Content may be stored in data storage unit340 and may be sent, e.g., using RF unit 335, from data storage unit 340to a remote computer or system. For example, data acquired by sensorunits 230 may be stored in data storage unit 340 and may later beextracted from data storage unit 340 and sent or uploaded to a remotecomputer.

Input/Output (I/O) devices 345 may be or may include a mouse, akeyboard, a touch screen or pad, a microphone, or any suitable inputdevice. It will be recognized that any suitable number of input devicesmay be operatively connected to mobile unit 140 or controller 310. I/Odevices 345 may include one or more displays, speakers and/or any othersuitable output devices. It will be recognized that any suitable numberof output devices may be operatively connected to mobile unit 140 orcontroller 310. Any applicable input/output (I/O) devices may beconnected to mobile unit 140 or controller 310. For example, a wired orwireless network interface card (NIC), a modem, printer or facsimilemachine, a universal serial bus (USB) device or external hard drive maybe included in I/O devices 345.

Embodiments of the invention may include a mini robot (e.g., in the formof mobile unit 140) adapted to travel on a ramp and below dairylivestock, between the fore and hind legs of the livestock. For example,an embodiment of a system may include a mini robot adapted to travel ona ramp on which livestock is standing. An embodiment of a system mayinclude a mini robot adapted to travel to a spot under the livestock andpark in at the predefined spot, e.g., as further described herein. In anembodiment, the mini robot or mobile unit may carry equipment usable fortreating livestock or may use equipment placed in various, possiblydesignated, positions in the milking parlor. For example, the mini robotmay carry, or extract from a housing, a milking unit and attach themilking unit to the dairy livestock. The milking robot may park underthe livestock and, when parked, perform a treatment. For example, atreatment may be milking, disinfecting, obtaining measurements and thelike. As described, a mini robot or mobile unit may travel on a ramp onwhich the livestock is standing. For example, a ramp on which cows arestanding may include a guide or rail and a mini robot or mobile unit maytravel along or on the guide or rail.

A method of treating dairy livestock may include navigating a mobileunit to a location under the livestock; and carrying out, by the mobileunit, at least one action related to a treatment of the dairy livestock.It will be understood that portions of the operations, such as milking,disinfecting, washing and obtaining measurements, may include usage ofequipment as known in the art, which may be included in or on the mobileunit or at any appropriate location in the milking parlor. For example,the actual washing of udders of the animals, as described herein, may beperformed as known in the art. Similarly, using jets to spray adisinfectant liquid may be as known in the art. Accordingly, for thesake of clarity and simplicity, details related to some of theoperations performed by a mini robot or mobile unit as described hereinare assumed to be understood or known to a person having ordinary skillin the art and are not described in detail.

Reference is made to FIG. 4 that shows a system 400 according toembodiments of the invention in a rotary milking parlor. As describedherein, system 400 may be included in or operated as a milking parlor ormilking platform. It is particularly noted, as will be detailed herein,that all of the elements of the system of the invention may be includedin any existing milking parlor, including rotary and parallel milkingparlors and may be altered as required according to the type of themilking parlor. As shown, system 400 may include a ramp 405. Forexample, ramp 405 may be a platform on which animals stand being milkedor treated, wherein each animal, once entering ramp 405, stands in astall, one animal per stall, as known in the art. As shown by arrow 406,ramp or platform 405 may rotate, with the livestock on it. As shown,ramp 405 may include a guide or rail 410 for guiding mobile units. Asshown by mobile units 441, 442, 443, 444, 445, 446, 447 and 415, mobileunits that may be similar to mobile unit 140 described herein, may beplaced on ramp 405 and may travel on ramp 405, e.g., forward orbackwards along rail 410 or out to a maintenance area (see, e.g., theposition of mobile unit 441). As shown, system 400 may include amaintenance area 435. For example, as shown by mobile unit 441, a mobileunit may exit rail 410 into a maintenance area 435 where it may beserviced, including, for example, removing samples that mobile unit 441collected from the monitored livestock. It is noted that once mobileunit 441 enters maintenance area 435, it may remain there until ramp 405stops rotating and until at least in the vicinity of maintenance area435 there are no moving animals and/or mobile units, such that anoperator may safely enter ramp 405, without being endangered bymovements of ramp 405, animals and/or mobile units. As shown by arrow460, animals may enter or mount ramp 405 through a dedicated opening andas shown by arrow 461, animals may exit ramp 405 through a dedicatedopening or gate.

System 400 may include a component for housing a milking unit, e.g.,before milking has begun and/or after milking has been completed. Forexample, as shown by assembly 420, an assembly for housing milkingequipment may be included in ramp 405. For example, when placed inassembly 420, a milking unit may be washed, disinfected and the like. Asystem may include a component for placing milking units in a dedicatedplace or holder that is relatively close to the location of an animalwhen milked. For example, as shown by arrangement 430, special holdersmay be included in ramp 405 and a milking unit may be placed in theholder or holders. For example, quartets of holders 430 may separatelyhold teat cups. As shown by arm 425, a system may include an arm adaptedto extract or fetch a milking unit from assembly 420 and place themilking unit in holders 430. It is further noted that arm 425 may not beincluded in the system and that the milking units may be placed inholders 430 by any appropriate means, such as human operators. Inaddition, it is noted that the milking unit, which, as shown in FIG. 4,is part of system 400 or of the milking parlor, not part of mobile unit140, is connected directly to the main milk-line (not shown).Accordingly, system 400 may further include any milk or livestocktesting means necessary for assuring that only desired milk enters themain milk-line. Undesired milk, e.g., from an animal receivingantibiotics, may be collected separately. Different types of milk, suchas colostrum, may also be collected separately.

In one embodiment, holders 430 are located at a minimal distance fromthe milked animal. It is noted that holders 430 may hold milkingequipment, such as teat cups, cleaning equipment, such as brushes,disinfecting fluid or disinfecting fluid conduits, or any othernecessary equipment or substances. According to one embodiment, oneholder 430 is positioned between every two stalls, wherein an additionalholder may be positioned before the first stall or after the last stall,or between the first and last stalls on a rotary platform. According tosome embodiments, any one of the holders may be positioned about in linewith the space between the hind legs of an animal, when confined to thestall. Either one of those positions enables arm 215 to be of minimallength, such that mobile unit 140 (see FIG. 2A) has a minimal footprint.According to some embodiments, arm 215 (see FIG. 2A) does not reachbeyond the edge of ramp 130. According to some embodiments, arm 215reaches up to 20 cm beyond the edge of ramp 130. According to someembodiments, arm 215 reaches up to 15 cm beyond the edge of ramp 130.According to some embodiments, arm 215 reaches up to 10 cm beyond theedge of ramp 130. According to some embodiments, arm 215 reaches up to 5cm beyond the edge of ramp 130.

It is noted that throughout, although reference herein is made tospecific mobile units and elements thereof, as well as specific elementsof the system, such as mobile unit 140 and arm 215, as presented in FIG.2A, the embodiments detailed are relevant for any mobile units andsystem elements, such as mobile units 441, 442, 443, 444, 445 and 446,unless specifically mentioned otherwise.

According to some embodiments, mobile unit 140 is configured such thatit may travel on ramp 130, easily fit between the front and hind legs ofthe livestock, and, when parked under the livestock in working mode, canuse arm 215 to reach and operate any necessary equipment, such as teatcups, cleaning brushes and the like. According to some embodiments, themobile unit is designed such that, when parked under the livestock, asdescribed, the external edges of main body 144 do not protrude beyondthe external edge of the body of the livestock under which it is parked.According to some embodiments, any one of the external edges of mainbody 144 protrudes up to 20 cm beyond the external edge of the body ofthe livestock under which it is parked. According to some embodiments,any one of the external edges of main body 144 protrudes up to 15 cmbeyond the external edge of the body of the livestock under which it isparked. According to some embodiments, any one of the external edges ofmain body 144 protrudes up to 10 cm beyond the external edge of the bodyof the livestock under which it is parked. According to someembodiments, any one of the external edges of main body 144 protrudes upto 5 cm beyond the external edge of the body of the livestock underwhich it is parked.

According to some embodiments, while mobile unit 140 is parked under thelivestock, base 225 of arm 215 is positioned under the livestock, whilearm 215 may extend out from under the livestock in order to perform anynecessary operations, e.g., withdraw teat cups from holder 130 and thelike.

As shown, system 400 may include a management unit 470 that may includean RF unit 471 enabling management unit 470 to communicate/coordinatewith other components of system 400. For example, management unit 470may communicate/coordinate with mobile units 441, 442, 443, 444, 445,446, 447 and 415. As shown, management unit 470 may include a controlleror processor 474 and a memory 472 that may include software,instructions or executable code 473. When executed by controller 474,executable code 473 may cause controller 474 to perform operationsperformed by management unit 470 as described herein. In one embodiment,management unit 470 includes a server computer equipped with RFcapabilities. Accordingly, a management software application may beexecuted on management unit 470 and the management application maycommunicate with mobile units 441, 442, 443, 444, 445, 446, 447 and 415.Although not shown, management unit 470 may be connected to othercomponents or computers, e.g., management unit 470 may be connected tothe internet or to a remote sever. Accordingly, any data obtained bymobile units 441, 442, 443, 444, 445, 446, 447 and 415 may becommunicated to management unit 470 and from management unit 470 to anycomputer or network. Controller or processor 474 and/or controller orprocessor 310 may be configured to carry out embodiments of theinvention by for example executing instructions or software.

As described, a system for treating dairy livestock may include a rampfor containing dairy livestock and one or more mobile units configuredto travel on the ramp and below the dairy livestock and perform at leastone action related to treatment/testing of the dairy livestock. Forexample, mobile units 441, 442, 443, 444, 445, 446, 447 and 415 may besmall enough to travel under, and between the front and hind legs ofcows standing on ramp 405 and may perform various treatments andoperations as described herein.

According to some embodiments, ramp 405 is a rotating platform in arotary milking parlor. According to some embodiments, ramp 405 is astationary platform in a parallel milking parlor. As would be understoodby a person skilled in the art, when the system of the invention isassembled in a parallel milking parlor, there will be two ramps 405,each possibly fitted with a guide or rail 410, as detailed herein, andeach having mobile units 140, 415 and the like moving thereon andtreating animals on each one of the two parallel platforms.

In a rotary milking parlor ramp 405 may be adapted to translate or moveboth the dairy livestock and the mobile unit. Accordingly, whenpositioned under an animal, a mobile unit (e.g., mobile unit 442) may bestationary with respect to an animal above it, while both the animal andthe mobile unit are translated (e.g., rotated) by ramp 405. For example,ramp 405 may be a round ramp adapted to translate the livestock andmobile units in a circle around a center. Ramp 405 may include stalls(e.g., as shown in FIG. 1) and may rotate slowly such that animal canenter or mount ramp 405 as shown by arrow 460 and exit ramp 405 as shownby arrow 461.

Guide or rail 410 may be designed to keep the mobile units (e.g., mobileunits 446, 447 and 415) within a predefined path along ramp 405 andunder the livestock positioned on ramp 405, wherein rail 410 may extendfrom one end of the ramp to the other and when the ramp is circular (oroval or otherwise shaped in a closed shape), rail 410, or at least apart thereof, may be designed to be the same shape as the ramp, orsimilar thereto, such that when the livestock are positioned on theramp, rail 410 travels between the fore and hind legs of the livestock.For example, rail 410 may include side walls that may prevent mobileunits from traveling at any direction other than along rail 410. In oneembodiment, rail 410 may include rails on which wheels 210 (that mayinclude a groove that fits the rails) travel such that the rails holdthe wheels (and thus the mobile units) in a way similar to the way railshold or guide a train.

In an embodiment, rail 410 may provide mobile units with electricalenergy. For example, contacts may be placed on the sides of rail 410 andmay provide current to mobile units via electrical contacts included inthe mobile units. For example, metal brushes or other components inmobile unit 442 may be connected to motors 325 and be in touch withconductive metal strips or terminals placed on (or along) rail 410.Electric power may be fed into the conductive metal strips or terminals,may flow through the brushes and may power motors 325. Accordingly, rail410 may provide mobile units with electrical energy.

According to other embodiments, rail 410 is absent, and then, possibly,the movement of the mobile units is controlled, e.g., limited to acertain path, by management unit 470, which may be transmitted/receivedvia electrical means, Bluetooth, internet, WiFi and the like, bycontroller 310, included in mobile unit 140, by marks, such as marks480, 481 and 482 on ramp 405 or rail 410 or by any other appropriatemeans.

Mobile unit 140 may be adapted to perform various treatments andoperations. For example, mobile unit 415 may disinfect animals (e.g.,udders or teats) by spraying a disinfectant liquid. For example, mobileunit 415 may include a container or tank that stores iodine andtreatment units 240 may include a nozzle or jet for spraying the iodineon the animals, e.g., after milking is completed and a milking unit wasremoved. Treatment units 240 may include a component adapted to warm orheat the udder or other part of an animal, accordingly, a mobile unit asdescribed herein may heat an organ of the livestock, e.g., by attachinga heating component to the livestock or placing a heating component inthe proximity thereof.

In one embodiment, a mobile unit (e.g., mobile unit 140) may include atank or container that stores water or other liquids usable for cleaningor washing the livestock and/or cleaning or washing ramp 405. Forexample, nozzles included in treatments units 240 may eject water orother liquids on animals standing on ramp 405. Nozzles or jets includedin treatments units 240 may be used to wash ramp 405. Acting as a robot,a mobile unit described herein may move/extend arm 215 such that nozzlesor jets are directed to wash a livestock or wash ramp 405.

Treatments units 240 and/or sensing units 230 may include a camerausable for acquiring an image. It is noted that throughout, unlessspecifically mentioned otherwise, the camera may be replaced with anyother appropriate device, such as a laser scanner and the like. It isfurther noted that, unless specifically mentioned otherwise, any unitmay include more than one device for acquiring an image, possibly twodifferent types of devices. For example, arm 215 may place or aim acamera included in sensing units 230 such that an image of any desiredpart of the animal, such as an animal's belly, buttock or udder iscaptured. An image acquired as described may be used for attaching amilking unit (e.g., by determining exact or relevant location of teats),for diagnosing any possible condition or the like. An image may be usedto identify an animal. For example, by analyzing an image of an udder oran image of a mark on an animal's body, the animal may be identified.For example, hot-iron branding on a belly of an animal may be identifiedby processing an image of the animal's belly and using known image orpattern recognition methods. For example, an image of the animal's bellymay be processed by controller 310 or controller 474, a mark may beidentified in the processed image and a database that includes a list ofthe animals and their respective marks may be used in order to identifythe animal. Other marks (e.g., made using freezing, e.g., using liquidnitrogen or dry ice) may be similarly identified. Accordingly, sensingunits 230 may include a sensing device for identifying the livestock.

Other devices or sensors included in treatments units 240 and/or sensingunits 230 may be devices or sensors for testing for pregnancy as knownin the art. For example, an ultrasound sensing device included insensing units 230 may be used to capture a heartbeat of a fetus. It isnoted that, although sensing units 230, treatment units 240 and grippingunit 250 are depicted on the distal end of arm 215, according todifferent embodiments they may be positioned on arm 215 or on mobileunit 140 at any appropriate location, and further, their location on arm215 or mobile unit 140 may be changed, as required.

Any data acquired by sensing units 230 may be stored. For example,images acquired by a camera, laser scanner or any other appropriatedevice, or signals acquired by a sensor may be stored on data storageunit 340. Any data stored on data storage unit 340 may be downloaded oruploaded to a remote computer or data in data storage unit 340 may becommunicated over a network. Data in data storage unit 340 may betransferred or copied using a direct wire, e.g., using a USB portincluded in mobile unit 140. Accordingly, it will be understood thatdata acquired, processed or generated by mobile units such as 441, 442,443, 444, 445 and/or 140 may be available to other components of system400.

In one embodiment, mobile unit 140 (or similar mobile units shown inFIG. 4) may travel to a predefined location under an animal and performoperations described herein when located at the predefined spot orlocation. For example, an optimal location for treating an animal may beright under the animal, possibly at a short distance from the udder. Atthe predefined location, mobile unit 140 may rotate or otherwise move ormaneuver such that it is at a selected, possibly pre-defined,orientation. For example, mobile unit 140 may rotate itself such thatarm 215 is at minimal distance from holders 430.

To determine its location, mobile unit 140 may use any applicable systemor technique. For example, controller 310 (or controller 474) may useimage processing techniques in order to determine a location of mobileunit 140, based on video or images received from a camera or any otherappropriate device in sensor units 230.

An electro-mechanic switch may be used in order to enable mobile unit140 to determine it has reached a predefined spot in a stall. Forexample, a mechanical sensor included in mobile unit 140 may beconfigured to detect a mark on rail 410. For example, rail 410 mayinclude a bulge (or cavity or hole) that marks a center of a stall and arod connected to a micro-switch included in mobile unit 140 may slidealong rail 410 and activate the micro-switch when reaching the bulge orcavity. An activation of the micro-switch may enable mobile unit 140 todetermine it is located in a center of a stall. An optical sensorincluded in mobile unit 140 may detect an optically detectable signalemitted from a source placed in a center of a stall. In yet otherembodiments, a mark may be or may include a magnet placed in a stall anda sensor adapted to sense a change in magnetic flux may be included inmobile unit 140, such that mobile unit 140 may stop or park in a stallbased on a sensed magnetic field or flux.

In an embodiment, ramp 130 includes stalls for containing the livestock.For example, when entering platform 405 as shown by arrow 460, animalsenter separate stalls.

In an embodiment, the floor of ramp 405 includes markings or marks thatare detectable by the mobile units. For example, a mark may be placed atthe center of each stall in ramp 130. For example, the mark may be an RFbeacon, a specific color, e.g. paint, and the like. A sensor included insensors 330 may detect a mark (e.g., by identifying the color of themark or picking up an RF beacon). Based on identifying the location ofthe mark, mobile unit may travel to a location defined based on thelocation of the mark. For example, mobile unit may position itself suchthat a specific part of the mobile unit, e.g., the center thereof, isright above the mark or in a predefined proximity thereof. For example,a sensor included in sensors 330 may send controller 310 the location ofa mark (or a relative location with respect to a mobile unit) andcontroller 310 may cause motors 325 to move (e.g., by driving wheels210) a mobile unit to a location that is closest to the mark. It will beunderstood that various other methods or components for enabling amobile unit to determine its location in a stall may be used.

In an embodiment, a marking or mark may be placed on or within rail 410.Accordingly, in order to place a mobile unit right above the mark,controller 310 may only need to cause the mobile unit to move in one oftwo directions (e.g., either forwards or backwards). For example, marksplaced on the floor of ramp 405 and/or on or in rail 410 and at thecenters of stalls may be used by mobile units such as 444, 445 and/or140 in order to determine their location with respect to a stallcontaining the livestock. For example, using a mark as described, amobile unit may position itself under an animal in a stall.

As described, a system may include a unit for placing a milking unit ina housing. For example, a system may include an arm 425 adapted to fetcha milking unit from assembly 420 (where the milking units may have beenwashed or otherwise treated) and place the milking units in holders 430.It will be understood that holders 430 may be any suitable housingadapted to house the milking units.

Holders 430 may be located at a minimal distance from the animal and thelocation of holder 430, e.g., with respect to a center of a stall, maybe known. Accordingly, when located right above a mark or in closeproximity thereto, e.g., approximately in a center of a stall, a mobileunit may determine the relative location of holders 430. Accordingly, amobile unit may be adapted to determine its location (e.g., in a stall)and, based on its location, determine the location of holders 430.Otherwise described, knowing its location in a stall, a mobile unit mayreadily determine the location of a milking equipment unit housed byholder 430. According to some embodiments, mobile unit 140 is designedto locate any necessary milking equipment, even if when the specificlocation of the mobile unit is not known.

In an embodiment, a mobile unit is adapted to detach a milking equipmentunit from a housing or holder and attach the milking equipment unit tothe dairy livestock. For example, using arm 215 and gripping unit 250,mobile unit 140 may detach a milking unit (e.g., a teat cup) fromholders 430 and attach the milking unit to the milked animal. Forexample, the location of holders 430 (with respect to a center of astall) may be known in advance, accordingly, controller 310 may causearm 215 to move to holders 430 and grip a milking unit. As described,the location and/or shape of an udder may be known to mobile unit 140(e.g., based on processing an image of the lower part of the animal asdescribed). Accordingly, controller 310 may cause arm 215 to move to alocation under an udder and lift teat cups such that they snap onto theteats (e.g., by force of vacuum in the teat cups as known in the art).It will be noted that when a mobile unit is located under an animal,possibly in the near proximity of the udder, the distance an arm of themilking unit needs to travel in order to fetch a milking unit andattached the milking unit to the animal is kept to a minimum. A milkingunit may be, for example, a set of four teat cups or it may be one teatcup.

Using marks 480, 481 and 481 in stalls as described, a mobile unit mayautomatically travel from a first stall to a second stall. For example,detecting marks 480, 481 and 481 on a floor of ramp 130 as described,mobile units 441, 442, 443, 444, 445, 446, 447 and 415 may travel from afirst stall to a second stall. For example, to travel from a first to asecond stall, mobile unit 442 may travel, along rail 410 until mark 480is detected and determined to be right under any part of mobile unit442. Leaving a first stall, a mobile unit may travel, along rail 410,till it detects mark 480. Detecting a mark on the floor of ramp 130 mayindicate to a mobile unit that it is located in the proper position in astall. In order to travel from a first stall to a third stall, a mobileunit may continue its motion after detecting a first mark till a secondmark 481 is detected. Marks 480 and 481, for example, are placed on rail410, while mark 482 is placed on the floor of ramp 130, and may be used,e.g., for a mobile unit not traveling on the rail, at least in thatspecific area in the vicinity of mark 482. Although for sake ofsimplicity only three marks are shown, and their position in the figureseems to be between the stalls, it is noted that any number of marks maybe used, and they may be positioned as required, in the stalls, outsideof the stalls, between the stalls, on the middle of the rail, and thelike. It is further noted that as detailed above, different types ofmarks may be used, and further, the same system may include any numberof any appropriate type of marks.

As shown by area 435, a system may include a service or maintenance areawhere mobile units may be parked and serviced or where samples obtainedfrom the animals by the mobile unit may be collected and/or examined.Other operations may be performed when a mobile unit is in area 435, forexample, data stored in data storage unit 340 may be transferred orcopied from a mobile unit when in area 435. In an embodiment, managementunit 470 may cause a mobile unit to exit rail 410 and enter area 435.For example, rail 410 may include an arrangement similar to a railroadswitch or turnout as used in trains. A turnout may be operated byelectric motors that may be controlled by management unit 470 (e.g.,using RF or wired communication).

Accordingly, by controlling a component of rail 410, management unit 470may cause a mobile unit to travel to area 435, e.g., as shown by mobileunit 441. In an embodiment, management unit 470 may monitor movementsand locations of mobile units 441, 442, 443, 444, 445, 446, 447 and 415.For example, mobile units may report their location to management unit470 or other means may be used (e.g., global positioning systemcomponents installed in mobile units). Accordingly, management unit 470may determine when and how to operate a turnout such that a selectedmobile unit travels into area 435.

Mobile units 441, 442, 443, 444, 445, 446, 447 and 415 may collaborateand/or cooperate to complete a task, treatment or operation. As known inthe art, a milking unit may include four teat cups that need to beattached to the four teats of a cow (the number and size varyingaccording to the animal being milked). In an embodiment, a first mobileunit (e.g., mobile unit 443) may be adapted to attach a first portion ofa milking unit to the dairy livestock and a second mobile unit (e.g.,mobile unit 444) may be adapted to attach a second portion of themilking unit to the dairy livestock. For example, mobile unit 443 mayattach a first teat cup, mobile unit 444 may attach a second teat cupand mobile units 445 and 446 may respectively attach the third andfourth teat cups. Mobile unit 442 may perform preparation relatedoperations, e.g., washing, heating and the like. As described, byprocessing an image of an udder, the teats in the udder may beidentified and their location may be calculated, for example using knowncomputer image processing or recognition methods. For example, if thelocation of mobile unit 442, when acquiring an image of an udder, isknown, and a location of a camera, laser scanner or the like, on arm 215is known (e.g., since the location or position of arm 215 are known)then the location of objects in an image may be calculated. In someembodiments, a video stream may be produced by a camera, laser scanneror the like, carried by arm 215 and controller 310 may use a videostream to move/extend arm 215 such that it brings a milking unit to theteats. Any known methods used by robots or other automated systems maybe used by mobile units in order to carry and place equipment such as amilking unit at a desired location or position. For example, any methodsused by milking robots known in the art may be used by mobile units 415,442 and 443. As noted, unlike milking robots placed outside a stall, inan embodiment, a milking robot may be, or may be included, in a smallmobile unit adapted to move to a location under the livestock andperform operations from under the livestock, thus minimizing movement ofan arm or other parts of the milking robot.

When a mobile unit completes its task in a current stall it may travelto the next stall, e.g., in a direction opposite to the direction ofrotation of ramp 405 or in the same directed as the rotation of ramp405. Prior to moving to the next stall, a mobile unit may determinewhether or not another mobile unit is located in the next stall. Forexample, as described, management unit 470 may monitor mobile units'locations and may therefore know whether or not mobile unit is locatedin a specific stall. Accordingly, a mobile unit may communicate withmanagement unit 470 and may be advised whether or not it may move fromits current stall to the next stall. In another embodiment, a mobileunit may communicate/coordinate with adjacent mobile units in order todetermine their location and thus determine whether or not it may moveinto a stall. Accordingly, a mobile unit may automatically travel from afirst stall to a second stall based on a command or information receivedfrom a management unit 470 and/or autonomously, based on informationreceived from other mobile units.

In an embodiment, a plurality of mobile units may be configured tointercommunicate/coordinate in order to collaborate in performing anaction related to treatment/testing of the dairy livestock.Collaboration or cooperation may be realized in various ways. Forexample, one mobile unit, e.g., mobile unit 442 that may be the firstmobile unit to treat an animal in the current milking session, mayinclude a camera, laser scanner or the like, for obtaining an image ofthe livestock. The image may be processed, e.g., by management unit 470or by one of the mobile units, and a location of an organ of thelivestock may be determined and possibly recorded. For example, using animage and provided with the location of the mobile unit that acquiredthe image, the location of an udder (and/or teats), with respect to amarking in a stall may be determined and possibly recorded. For example,coordinates of an udder or teats, relative to a mark in a stall may besent to other mobile units. Accordingly, using an image obtained bymobile unit 442, mobile units 443, 444, 445, 446 and 447 may beinformed, in advance, of the location of the udder or teat of theanimal.

One (or more) mobile units in a plurality of mobile units may act as abackup unit. For example, mobile units 443, 444, 445 and 446 may eachattach one of four teat cups to a cow (or two of a goat, etc.). Forexample, after mobile unit 443 attaches a first teat cup, it moves tothe next stall and mobile unit 444 moves to the stall that mobile unit443 left. Mobile unit 444 may then attach the second of four teat cupsto the cow. Thus, mobile units may collaborate in attaching a completemilking assembly.

However, if one of mobile units 443, 444, 445 and 446 fails to attach ateat cup, it may report failure to management unit 470 (or to othermobile units) and mobile unit 447, when acting as a backup unit, mayattach a teat cup that another mobile unit failed to attach. Adapted tocommunicate/coordinate either with each other or with a centralmanagement unit 470, mobile units may send and receive any informationrelated to an operation performed by a set of mobile units. Accordingly,one mobile unit may correct errors or failures caused by another mobileunit. For example, a first mobile unit may automatically complete anaction that at least one other mobile unit failed to complete asdescribed.

In an embodiment, each mobile unit in a set of mobile units may beconfigured to communicate/coordinate with other mobile units included inthe set. A set of mobile units may be configured to dynamically andautomatically determine a portion of a treatment to be performed by eachof the mobile units in a set. For example, mobile unit 444 may only moveto the next stall if mobile unit 443 has left that stall. If mobile unit444 completes attaching a teat cup as configured and cannot move to thenext stall, mobile unit 444 may attach another teat cup, e.g., onetypically attached by mobile unit 445. In an embodiment, distribution ofsub-tasks may be configured (e.g., each mobile unit is configured toattach one specific teat cup). Mobile units may override a configureddistribution of sub-tasks, e.g., a first mobile unit may perform asub-task that was assigned to a second mobile unit in a configureddistribution of sub-tasks.

It is noted that although the attachment of teat cups is related toherein, any sort of desired treatment/testing may be contemplated, suchas cleaning, wherein one mobile unit applies disinfectant to a certainarea on the animal, the second washes the disinfected area with waterand the third dries the area. Testing may also be involved, e.g.,utilizing syringes, wherein, after disinfecting/washing and possiblydrying, a further mobile unit is utilized for retrieving a blood or milksample.

Mobile units may send any information to management unit 470. Forexample, mobile units may report completion of a sub-task, failure tocomplete a task or sub-task and the like. Management unit 470 may beconfigured to be aware of the progress of the various tasks and todynamically cause at least some of the mobile units to each perform aportion of a treatment. For example, provided with information frommobile units related to a progress of a treatment (e.g., milking),management unit 470 may dynamically allocate tasks to mobile units. Forexample, if mobile unit 445 reports a malfunction or a failure to attacha teat cup, management unit 470 may command mobile unit 444 to “fill in”for mobile unit 443, e.g., attach a teat cup that, in a previousconfiguration, was to be attached by mobile unit 443.

According to some embodiments, the distance between the mobile unit andthe animal is between about 30-50 cm. According to some embodiments, thedistance between the mobile unit and the animal is between about 20-30cm. According to some embodiments, the distance between the mobile unitand the animal is between about 30-40 cm. According to some embodiments,the distance between the mobile unit and the animal is between about40-50 cm. According to some embodiments, the distance between the mobileunit and the animal is between about 50-60 cm. It is noted that,although not limited to this definition, the distance between the mobileunit and the animal may be between any part, e.g., the base of the armof the mobile unit and the position on the animal that is treated, e.g.,the udder, such that the distance between the mobile unit and the animalis essentially the distance that the arm extends. According to otherembodiments, the distance between the mobile unit may be measuredbetween it's position on the ramp relative to the position of the animalor the area on the animal that it treated.

A movement of a mobile unit from one stall to another may besynchronized or based on a movement of another mobile unit. For example,when mobile unit 442 has finished washing the animal in its currentstall it may move to the next stall and inform mobile unit 443 that itmay move to the stall that mobile unit 442 just left. In anotherembodiment, mobile unit 442 reports to management unit 470 that it hasfinished its tasks in the current stall and may request permission frommanagement unit 470 to move to the next stall. Management unit 470 maykeep track of the location of all mobile units in system 400 (e.g.,based on reports from the mobile units as described). Accordingly,management unit 470 may determine whether or not a mobile unit may moveto the next stall (e.g., by determining no other mobile unit is presentin the next stall), to the maintenance area or the like.

Mobile units and management unit 470 may share information. For example,an image taken by mobile unit 442 (that may be the first unit to treatan animal in a milking session) may be shared by all mobile units insystem 400. Data (e.g., coordinates of teats in an udder) determinedbased on an image taken by one of the mobile units may be shared by someof or all of the units. For example, management unit 470 may receive animage from mobile unit 442, determine, based on the image, the locationof the animal's teats with respect to the stall or with respect to aknown location within a stall, and provide the coordinates to mobileunits 442, 443, 444, 445, 446 and 447.

Reference is now made to FIGS. 5A, 5B and 5C, presenting embodiments ofsystem 500 assembled in a parallel milking parlor. As shown in FIG. 5A,the livestock load into stalls 501, 502, 503, 504 and the like, whilemobile units 540, 541, 542, 543, 544, 545 and 546 are positioned inparking area 560. It is noted that any number of mobile units may beused, including a single mobile unit and that for illustration reasonsonly a certain number of a plurality of mobile units is presented. It isfurther noted that although different numbers have been designated todifferent mobile units in the same or different figures, any of themobile units may include any of the embodiments detailed regarding anyof the other mobile units, including mobile unit 140. It is furthernoted that according to some embodiments, the system includes parkingarea 565, which may be used by the same or additional mobile units.According to some embodiments, the system includes both parking areas560 and 565. It is further noted that any of the parking area may beused for parking, maintenance and the like.

As presented, stalls 501, 502, 503, 504 and the like are arranged on twoparallel ramps 510 and 520, between which is milking pit 550. Aspresented, according to some embodiments, mobile units 540, 541, 542,543, 544, 545 and 546 are positioned on or attached to rails 515 and525, which stretch along platforms 510 and 520, respectively, andaccording to some embodiments, as shown, extend into parking area 560.

Once the livestock are loaded into stalls 501, 502, 503, 504 and thelike, they remain within the stalls until the treatment thereof has beenconcluded. In this respect it is noted that although milking is the maintreatment described herein, any other types of treatment could beperformed according to the invention. While the livestock remain in thestalls, any number of mobile units 540, 541, 542, 543, 544, 545 and 546may leave parking area 560. It is noted that according to embodiments ofthe invention, the mobile units are stationary while the livestock are“on the move”, i.e., not confined to the stall, while when the livestockare confined to the stalls, the mobile units may be mobile, entering thestalls for treating the livestock. Accordingly, the chances ofcollisions and the like, between the livestock and the mobile units andkept to a minimum.

As presented in FIG. 5B, once the livestock are confined to stalls 501,502, 503, 504 and the like, mobile units 540, 541, 542, 543, 544, 545and 546 leave parking area 560. According to some embodiments, mobileunits 540, 541, 542, 543, 544, 545 and 546 leave parking area 560 onlyafter the positions of the livestock in stalls 501, 502, 503, 504 andthe like have been identified/verified by any appropriate means, such assensors positioned on the livestock, in the stalls and the like. Asdetailed herein, any number of controllers, management units, RF units,memory units, and the like may be included in the system and may providedata, e.g., regarding the position of the livestock, the position of themobile units, any health parameters of the livestock, the stage oftreatment and the like.

According to some embodiments, as shown, mobile units 540, 541, 542,543, 544, 545 and 546 move along rails 515 and 525 from parking area 560along ramps 510 and 520. As shown, rails 515 and 525 are positionedalong ramps 510 and 520, respectively, such that when the livestock isconfined to the stalls, rails 515 and 525 are positioned between thefore and hind legs of the livestock. Therefore, mobile units 540, 541,542, 543, 544, 545 and 546 moving along rails 515 and 525 are alsolocated on a path that passes between the fore and hind legs of thelivestock, from where they perform any necessary treatments on thelivestock. It is noted that one mobile unit may fully treat any one ofthe livestock, while according to other embodiments, a plurality ofmobile units may treat any one of the livestock, such that each one ofthe plurality of mobile units performs part of the treatment. It isfurther noted that although two rails 515 and 525 are presented, anyother configuration of a rail or number of rails is possible. Forexample, the rails may not extend into parking area 560. For example therails may include any number of branches, e.g., within the parking area,or leading from any point on the ramp to any other point, e.g., into themilking pit, into designated areas in the milking pit or into otherareas surrounding the ramp, which may be used, e.g., for removing orrepairing malfunctioned mobile units from the ramp, for introducingadditional mobile units, when necessary, for removing/replacing orexchanging parts of the mobile units and the like. For example, rails515 and 525 may be connected to one another, e.g., in parking area 560,essentially providing one continuous rail. For example, any number ofbridges may be formed between rails 515 and 525, e.g., over milking pit550. According to some embodiments, any such branches, bridges and thelike are designed such that human operators in the milking pit are notendangered by the mobile units, e.g., the branches/bridges are designedto be above the heads of the human operators, the branches/bridges arepositioned in predefined areas to which the access of human operators islimited, at least when functioning mobile are present or may be presenttherein, and the like. It is noted that the rails referred to herein maybe considered to be, or replaced by, any other type of guide, pathfinderor the like.

As shown in FIG. 5C, once the treatment of the livestock has beenconcluded, mobile units 540, 541, 542, 543, 544, 545 and 546 return toparking area 560 along rails 515 and 525. Once mobile units 540, 541,542, 543, 544, 545 and 546 are parked in parking area 560, the livestockexits stalls 501, 502, 503, 504 and the like, as presented in FIG. 5C,wherein the livestock have already partially exited stalls 501 and 502.

It is further noted that any embodiments detailed above regarding system400 in a rotary milking parlor, e.g., management unit 470, and the like,may be used, possibly after any necessary adjustments, in a systemassembled in a parallel milking parlor, such as system 500, unless thoseembodiments are not appropriate for a parallel parlor setup. Further,any embodiments detailed regarding system 500 in a parallel milkingparlor may be used, possibly after any necessary adjustments, in asystem assembled in a rotary milking parlor, such as system 400, unlessthose embodiments are not appropriate for a rotary parlor setup.

Reference is now made to FIG. 6, presenting embodiments of system 600,in a parallel milking parlor, wherein only part of one of the twoparallel ramps is shown. As shown, rail 615 extends along ramp 610 andmobile units 641, 642, 643 and 644 move along rail 615, between the foreand hind legs of the livestock, while treating the livestock. Accordingto some embodiments, any one of mobile units 641, 642, 643 and 644 maybe mobile or stationary at any appropriate time or point along rail 615and/or during the treatment of the livestock on ramp 610. For example,while treating a certain one of the livestock, any one of the mobileunits may be parked under that livestock, at least for the timenecessary to complete the treatment, or part of treatment, as necessary.It is further noted that, although a certain embodiment is presented,any coordination between the various mobile units is possible. Forexample, each livestock may be fully treated by one of the mobile units.For example, any number of mobile units may treat each livestock,wherein each one of the mobile units performs part of the overallnecessary treatment. It is further noted that although four mobile unitsare depicted in FIG. 6, any number of mobile units, including a singlemobile unit or a plurality of mobile units may be used according toembodiments of the invention.

As presented in FIG. 6, assuming that the mobile units are loaded ontoramp 610 from the right hand side, mobile unit 641 is the first mobileunit to pass under the livestock. According to some embodiments, whenthe treatment of the livestock includes milking, mobile unit 641 may beused for any necessary pre-milking task, such as cleaning and sanitizingthe udders, stimulating the milk production, and the like. According tosome embodiments, mobile unit 641 parks under each and every one of thelivestock along the ramp, beginning on the right side in stall 601, andperforming the designated part of the required treatment, e.g.,pre-milking sanitizing the udders and stimulating milk production.According to some embodiments, mobile unit 641 includes any of thenecessary pre-milking equipment, including brushes and sanitizingliquid, which may be stored on mobile unit 641 in a designatedreceptacle. According to some embodiments, any of the pre-milkingequipment may be positioned on the ramp, e.g., in the stalls, at aposition that mobile unit 641 may easily reach when positioned to treatthe livestock. For example, each stall may comprise a receptacle holdingsanitizing fluid and/or at least one brush. According to someembodiments, holders 620, 630 and the like may comprise any necessarypre-milking equipment. According to some embodiments, a separate unitcomprising a reservoir of pre-milking disinfection liquid, brushes orany other equipment, may be conveyed along the rail, where it may bereached, e.g., by any one of the mobile units performing the pre-milkingtasks.

Once mobile unit 641 has completed the pre-milking task on the animal install 601, it may move on into stall 602, where it may again park andtreat the animal confined to stall 602. As detailed herein, any numberof marks may be included on ramp 610 and/or on rail 615, enabling theproper positioning of any one of the mobile units as well as enablingthe movement of any one of the mobile units from stall to stall.

Once mobile unit 641 leaves stall 601, second mobile unit 642 may enterstall 601. As detailed herein, the coordination between the variousmobile units may be performed by any appropriate means, including directcommunication between any of the mobile units, communication between themobile units and a central management unit, sensors that are part of themilking parlor, e.g., on the ramp, in the stalls, from above the stalls,in the milking pit, and the like, which communicate with the mobileunits and/or a central management unit.

Mobile unit 642 may be designated to connect any number of teat cups tothe livestock. As detailed herein, the teat cups according to theinvention are considered to be part of the milkingparlor/platform/ramp/stalls, not part of the mobile unit, andaccordingly, the milk passing through those teat cups passes directlyinto the main milk-line and is not stored in any receptacle on themobile unit or the like. It is noted that, as known in the field, ifcertain milk should not enter the main milk-line for any reasons, suchas it being milked from a cow receiving antibiotics, known methods maybe used to prevent that particular milk from entering the mainmilk-line. Known methods may also be used to classify, test or identifythe milk and/or its components.

Since the teat cups, e.g., teat cups 621, 622, 623 and 624, as well asteat cups 631, 632, 633, 634 and the like, are part of the milkingparlor/platform/ramp, not part of the mobile unit, they may bepositioned on ramp 610 at a position at which the mobile units mayeasily reach them. According to some embodiments, teat cups 621, 621,623, 624, 631, 632, 633, 634 and the like are held in designated holders620, 630 and the like. It is noted that although only a certain numberof holders and teat cups are specifically related to herein, anyappropriate number thereof may be included in system 600, as requiredaccording to the type of livestock, number of livestock and the like.

Each of holders 620, 630 and the like may hold any required number ofteat cups, such as two or four. The number of teat cups per holder maychange according to the number of teats the particular animal beingmilked has. As mentioned above, holders 620, 630 and the like arepositioned in the milking parlor, e.g., on ramp 610, at a position wherethey can be readily reached by the mobile units. According to someembodiments, holders 620, 630 and the like are positioned between everytwo stalls 601, 602, 603, 604, 605, 606 and the like. Further, in orderfor the number of holders to match the number of stalls, an additionalholder may be positioned before the first stall (according to thedepicted embodiment, to the right of the first stall 601) or after thelast stall (according to the depicted embodiment, to the left of thelast stall). According to other embodiments, holders 620, 630 and thelike are positioned about in line with the space between the hind legsof the animal confined to each stall.

According to some embodiments, holders 620, 630 and the like do notextend into milking pit 650. According to some embodiments, holders 620,630 and the like extend into milking pit 650 by up to about 5, 10, 15,20, 25, 30, 35, 40, 45 or 50 cm.

According to some embodiments, the position of holders 620, 630 and thelike, including their configuration, e.g., folded or unfolded, maychange during the treatment of the livestock. According to someembodiments, while the livestock enter stalls 601, 602, 603, 604, 605,606 and the like, holders 620, 630 and the like extend, at leastpartially, out of ramp 610 into any part of the milking parlor,including, though not limited to, milking pit 650. For example, whilethe livestock enter stalls 601, 602, 603, 604, 605, 606 and the like,holders 620, 630 and the like, may be positioned, at least partially, inmilking pit 650, such that the entrance of the livestock into stalls601, 602, 603, 604, 605, 606 and the like is not hindered by holders620, 630 and the like. Once the livestock are positioned in stalls 601,602, 603, 604, 605, 606 and the like, holders 620, 630 and the like mayremain in their position (between the stalls, though, at leastpartially, outside ramp 610, e.g., in milking pit 650), from where themobile unit will remove the necessary equipment. According to such anembodiment, the arm of the mobile unit extends into milking pit 650 byup to about 5, 10, 15, 20, 25, 30, 35, 40, 45 or 50 cm. According toother embodiments, once the livestock are positioned in stalls 601, 602,603, 604, 605, 606 and the like, the position of holders 620, 630 andthe like may be changed, such that holders 620, 630 and the like move,at least partially, from milking pit 650 (or from any other appropriatearea in the milking parlor), into a position between the stalls on theplatform/ramp and/or into a position between the hind legs of the animalconfined to the stall. According to such an embodiment, the arm of themobile unit may not extend into milking pit 650 (or into any otherappropriate area in the milking parlor). According to some embodiments,all of the holders move at the same time. According to otherembodiments, any one of the holders may move, in or out of the positionbetween the stalls, at a designated time, e.g., when the equipmenttherein, e.g., teat cups, is to be reached by a mobile unit, or when thelivestock are confined to the two stalls between which the holder ispositioned (or to any one of the stalls at the ends of ramp 610) or tothe stall in which the holder is positioned, if the holder is about inline with the space between the hind legs of the animal confined to thestall. According to some embodiments, the movement of the holders and/orthe configuration change thereof, is performed by any appropriate means,which may be mechanical, manual, electronic or automatic. According tosome embodiments, the movement or configuration change of the holders isinitiated according to any signal received from any appropriate sensors,which may be either part of the milking platform or of the mobile unit.According to some embodiments, any one of the mobile units may grab anedge of any one of the holders and either pull it, at least partially,into ramp 610 or push it, at least partially, away from ramp 610.According to some embodiments, when mobile unit 641, or any other mobileunit, is positioned in stall 605, it may grab holder 630 and pull itinto a predefined area in stall 605 or into a predefined area betweenstalls 605 and 606 in order for mobile unit 641, and/or any other mobileunit, to be able to easily reach and withdraw teat cups 631, 632, 633and 634 from holder 630. Once the milking is completed and teat cups631, 632, 633 and 634 are removed from the livestock and returned toholder 630, mobile unit 641, or any other mobile unit, may push holder630, at least partially, out from stall 605 or from between stalls 605and 606 into milking pit 650 (or any other predefined area). It is notedthat, although not shown, instead of the holders moving in and out ofthe ramp, they may be moved out of the way of the livestock, e.g., byelevation, depression, folding in any appropriate direction and thelike. Once the milking is concluded and the holders are out of the way,the livestock may leave ramp 610, as presented, e.g., in FIG. 5C,without the movements thereof being hindered by holders 620, 630 and thelike and without holders 620, 630 and the like being disturbed bymovements of the livestock.

According to some embodiments, one mobile unit, e.g., mobile unit 643attaches all of the teat cups, e.g., teat cups 621, 622, 623 and 624, tothe animal confined in a stall, e.g., stall 601. According to otherembodiments, a number of mobile units, e.g., mobile units 642 and 643attached the teat cups, e.g., teat cups 621, 622, 623 and 624 to theanimal confined in the stall, e.g., stall 601, wherein each one of themobile units, e.g., mobile units 642 and 643 attaches a number of teatcups, e.g., teat cups 621, 622, 623 and 624 to the animal. According tosome embodiments, mobile unit 642 attaches teat cups 621 and 622 to theanimal in stall 601, and subsequently moves on towards stall 602 (whereit may also attach two teat cups to the animal confined to stall 602).Once mobile unit 642 has moved out of stall 601 mobile unit 643 mayenter stall 601. Mobile unit 643 may then park in stall 601 (or remainrelatively stationary, e.g., reduce its speed in comparison to its speedwhen moving in and out of stalls) and then withdraw teat cups 623 and624 from holder 620 and attached them to the animal confined to stall601. Once all four teat cups 621, 622, 623 and 624 are attached to theanimal, the milking may begin. Further, though not shown, four differentmobile units may each attached one teat cup to the animal in stall 601and to any other animals in any of the other stalls.

According to some embodiments, the order in which the teat cups areattached to the animal is random. According to other embodiments, theteat cups are attached to the animal in a predefined order, such thatthe tubes leading from the teat cups to the milk-line do not gettangled, and further, so that the attachment of one teat cup does notcause a different teat cup to detach from the animal's udder. Forexample, the mobile units may attach two teat cups near the hind legs ofthe animal and subsequently attach the next two teat cups closer to thefront of the animal. For example, if the teat cups are taken from aholder on the left side of the animal, the first teat cups to beattached could be on the right hand side of the animal. For example, theteat cups may be attached in the order of the teat cups designated 621,622, 623 and 624, as depicted. According to some embodiments, theremoval of the teat cups from the animal is performed in a random order.According to some embodiments, the removal of the teat cups from theanimal is performed in the same or the opposite order as the attachmentof the teat cups to the animal. According to some embodiments, theremoval of the teat cups from the animal may be performed according toany one of the embodiments disclosed above regarding the attachment ofthe teat cups, or opposite thereto, wherein the attachment and theremoval orders may or may not be dependent on one another.

According to some embodiments, as presented in FIG. 6, the teat cups arearranged in a straight line array in the holder. According to someembodiments (not shown), the teat cups may be arranged in a staggeredarray in the holder. According to some embodiments (not shown), the teatcups may be arranged in two or more parallel lines in the holder.

According to some embodiments, the order in which the teat cups arewithdrawn from the holders is random. According to other embodiments,the teat cups are withdrawn from the holders in a predefined order,inter alia, preventing the tubes attached thereto from tangling.According to some embodiments, the teat cups may be withdrawn from theholder from back to front. According to some embodiments, the teat cupsmay be withdrawn from the holder from front to back. According to someembodiments, the teat cups are withdrawn from the holder from left toright or from right to left. According to some embodiments, if the teatcups are arranged in two parallel lines in the holder, the left line iswithdrawn first and then the right line, or vice versa. According tosome embodiments, if the teat cups are arranged in two parallel lines inthe holder, the teat cups in the back are withdrawn first and then theteat cups in the front, or vice versa. According to some embodiments,the teat cups are returned to the holders in a random order. Accordingto some embodiments, the return of the teat cups to the holder isperformed in the same or the opposite order as the removal of the teatcups from the holder. According to some embodiments, the return of theteat cups to the holder may be performed according to any one of theembodiment disclosed above regarding the removal of the teat cups formthe holder, or opposite thereto, wherein the removal and return ordersmay or may not be dependent on one another.

Once the milking stage has been concluded and the teat cups are returnedto the holders, a mobile unit may perform any necessary post-milkingtreatment, such as post-milking washing, disinfection and the like.According to some embodiments, the same mobile unit that performs atleast part of the milking process, e.g., mobile unit 643, may performthe post-milking treatment. According to other embodiments, anadditional mobile unit, e.g., mobile unit 644 may perform thepost-milking treatment. According to some embodiments, the post-milkingtreatment is performed after all of the animals have been milked and allof the teat cups have been returned to the holders. According to someembodiments, the post-milking treatment is performed after at least oneanimal has been milked and the teat cups attached thereto have beenreturned to their holder. For example, once the animal confined to stall601 has been milked and teat cups 621, 622, 623 and 624 have beenreturned to holder 620, mobile unit 643 may perform the post-milkingtreatment on that animal, regardless of whether the other animals havebeen fully milked or whether all of the teat cups have been removedtherefrom. According to other embodiments and as presented in FIG. 6,once the animal confined to stall 601 has been milked and teat cups 621,622, 623 and 624 have been returned to holder 620, mobile unit 643 maymove along rail 615, e.g., into stall 602 and then, mobile unit 644enters stall 601 and performs the post-milking treatment on the animalconfined thereto. According to some embodiments, mobile unit 644 parksunder each and every one of the livestock along the ramp, beginning onthe right side in stall 601, and performing the designated part of therequired treatment, e.g., post-milking treatment, regardless of whetherthe other animals have been fully milked or whether all of the teat cupshave been removed therefrom.

According to some embodiments, the equipment necessary for thepost-milking treatment, e.g. brushes and post-dip liquid, is part oframp 615 or of each or any one of the stalls. If the equipment is partof the ramp or stall, it is positioned therein at a position convenientfor the mobile unit to reach. According to some embodiments, thepost-milking equipment may be included in holders 620, 630 and the like.According to other embodiments, the equipment necessary for thepost-milking treatment, e.g. brushes and post-dip liquid, is part of themobile unit performing the post-milking treatment. For example, mobileunit 644 may comprise at least one brush as well as a receptacle forpost-dip liquid. According to some embodiments, a separate unitcomprising a reservoir of post-dip liquid, brushes or any otherequipment, may be conveyed along the rail, where it may be reached,e.g., by any one of the mobile units performing the pre-milking tasks.

Regarding the coordination between several mobile units it is noted thatmobile unit 644 may enter stall 601 only after mobile unit 643 has, atleast partially, exited stall 601, moving towards stall 602. This istrue for all stalls and mobile units along ramp 615 in order to preventcollisions and the like between the various mobile units. Accordingly,in order for a plurality of mobile units to operate in a parallelmilking parlor, it may be necessary to design ramp 610, rail 615 and/orto program the coordination between the different mobile units (641,642, 643, 644 and the like) so as to prevent collisions since, if all ofthe mobile units are programmed to reach the left end of ramp 610, andsince all are moving in a straight line along ramp 610, they mayinevitably run into one another in the left-most stalls, unless designedotherwise.

For example, even if a plurality of mobile units is used, each mobileunit may be programmed and designed to perform all of the milking tasks,including pre- and post-milking, such that each one of the mobile unitsoperates in a certain number of stalls, according to the order in whichthe mobile units enter ramp 610. For example, mobile unit 641 may treatthe livestock confined to stalls 607 and 608, mobile unit 642 may treatlivestock confined to stalls 605 and 606, mobile unit 643 may treatlivestock confined to stalls 603 and 604 and mobile unit 644 may treatlivestock confined to stalls 601 and 602. Once mobile unit 644 completesthe treatment of the livestock on stalls 601 and 602, it may exit ramp610 on the right, followed by mobile units 643, 642 and 641, in theopposite order in which they entered ramp 610.

According to other embodiments, a first mobile unit, e.g., mobile unit641, may perform the pre-milking treatment on all of the livestock onramp 610. After the pretreatment is performed, mobile unit 641 exitsramp 610 and then, either one or more mobile units enter ramp 610 toperform the milking tasks (attaching and then removing teat cups). Ifmore than one mobile unit is designated to perform the milking tasks,the various mobile units may each operated in predefined stalls, e.g.,mobile unit 642 may perform the milking tasks in stalls 605, 606, 607and 608, while mobile unit 643 may perform the milking tasks in stalls601, 602, 603 and 604. Once the milking task are completed, mobile units643 and 642 exit ramp 610 in the opposite order in which they enteredramp 610. Once ramp 610 is free of mobile units, an additional mobileunit, e.g., mobile unit 644, may enter ramp 610 and perform thepost-milking treatments in all of the stalls. In this respect it isnoted, that although embodiments with only one mobile unit forperforming pre- and post-milking treatments have been described, thosetreatments may be performed by any number of mobile units, eachoperating is predefined stalls, as described regarding the milking.

According to some embodiments, system 600 includes two parking areas,one on the right of ramp 610, in which the mobile units may be parkedbefore entering ramp 610 and one on the left of ramp 610, in which themobile units may be parked after leaving ramp 610. Accordingly, anynumber of tasks may be performed by any number of mobile units, eachtreating one or more livestock, wherein several mobile units may treatthe same livestock, in turn, as detailed herein, and wherein once aspecific mobile unit, which enters ramp 610 on the right, performs itsdesignated tasks along ramp 610, it may exit ramp 610 on the left,allowing additional mobile units into the leftmost stalls on ramp 610.For example, mobile unit 641 performs pre-milking treatment in stalls601-608, and is followed by mobile unit 642, which attaches teat cups tothe livestock in stalls 601-608; however, before mobile unit 642 entersstall 608, mobile unit 641 exits ramp 610 on the left, e.g., into asecond parking area (not shown), thus allowing mobile unit 642 to enterstall 608. Mobile unit 643 may then remove teat cups, after milking inall stalls 601-608, in the same manner, followed by mobile unit 644,which performs post-milking treatment in all stalls 601-608. It is notedthat if two such parking areas are present, the mobile units may, incertain instances, leave the right parking area to treat the livestockand enter the left parking area after treating the livestock, while inother instances they may leave the left parking area to treat thelivestock and enter the right parking area after treatment.

According to some embodiments, rail 615 includes any number of branches,allowing a first mobile unit to pass a second mobile unit, while thesecond mobile unit moves to any one of the branches. According to someembodiments, each ramp 610 may include a stall that remains vacant, suchthat mobile units may use the vacant stall to park, pass one another andthe like. Such embodiments are shown in FIGS. 7A and 7B. Reference isnow made to FIG. 7A, presenting system 700, assembled in a parallelmilking parlor (only part of one of the parallel platforms/ramps isshown), wherein rail 715, along which mobile units 741, 742, 743 and 744move, stretches across ramp 710. As shown in FIG. 7A, mobile units 741,742, 743 and 744 may move along rail 715 in a straight line, one afterthe other. Rail 715, as well as ramp 710, including vacant stall 705,are designed such that when necessary, any one of the mobile units maypass any other mobile unit. Particularly, rail 715 may include anynumber of branches, which may extend in any appropriate direction, suchas branches 716 and 717. The length and specific position of each branchmay depend on the size of the mobile units, the size of the stalls, thesize of the ramp, the size of the livestock and the like. It is furthernoted that the position of other equipment, such as teat cup holders, asdetailed above regarding FIG. 6, may be taken into account whendesigning any branches, such as branches 716 and 717. The areas in whichthe animals stand and in which they are most prone to kick may also betaken into account when designing branches in rail 715.

According to some embodiments, ramp 710 includes at least one vacantstall, such as stall 705, which remains vacant throughout the treatmentprocess. Rail 715 may be designed to include any branches or loops, suchas loop 718 which extend into vacant stall 705. Although in FIG. 7Avacant stall 705 is depicted as the last stall on ramp 710, it is notedthat the position of the vacant stall may be determined to be differentin every milking parlor. If the vacant stall is indeed the last stall onramp 710, rail 715 may extend further until the end of ramp 710, orbeyond, e.g., as presented by rail extension 719. According to otherembodiments, rail 715 ends or loops in the last vacant stall. Accordingto other embodiments, rail 715 ends in a loop towards the end of ramp710, in an area beyond the stalls (not shown).

Reference is now made to FIG. 7B, presenting mobile unit 744, whichpassed mobile units 743 and 741, which are located on branches 716 and717, respectively. Mobile unit 744 may move further to the left handside of ramp 710 and, if necessary, may pass mobile unit 742, positionedon loop 718, and possibly further move to rail extension 719. In thisrespect it is noted that the structure of loop 718 may vary, forexample, it may include the inner path in the loop, as shown, or not.Using such a structure, each one of the mobile units may perform part ofthe treatment on the livestock and further, they may all be on ramp 710at the same time, while the coordination between their movementsincludes the, possibly temporary, parking of any one of the mobile unitson any one of the branches/loops in rail 715. For example, mobile unit741 may perform the pre-milking treatment, followed by mobile unit 742,which attaches two teat cups (not shown) to the animals in all of thestalls. Once mobile unit 741 finalizes the pre-milking task in stall704, it may move towards branch 717, allowing mobile unit 742 to pass byit into stall 704. Further, mobile unit 742 may be followed by mobileunit 743, which attaches two more teat cups to the animals in all of thestalls. In order for mobile unit 743 to also be able to enter stall 704without colliding with mobile unit 742, mobile unit 742 may move furtherinto stall 705 onto loop 718. Finally, mobile unit 744 may perform thepost-milking treatment. In order for mobile unit 744 to be able to enterstall 704 without colliding with mobile unit 743, mobile unit 743 maymove on into vacant stall 705 onto loop 718 (not shown, e.g., on thebottom part of loop 718, so as not to collide with mobile unit 742) orfurther onto rail extension 719 (not shown). According to otherembodiments, mobile unit 743 may move back along rail 715 and enterbranch 716 before mobile unit crosses rail 715 at the branching point ofbranch 716. Then mobile unit 744 is free to move on into any one of thestalls along ramp 710. When exiting ramp 710 and returning to theparking area to the right of ramp 710 (not shown), the mobile units maymove in any appropriate order, e.g., in the opposite order in which theyentered the ramp, such that mobile unit 744 returns to the parking areafirst, followed by mobile units 743, 742 and 741 in successive order.According to other embodiments, the mobile units may return according totheir position on ramp 710, such that the rightmost mobile unit returnsfirst. For example, according to FIG. 7B, the mobile units may return tothe parking area on the right of ramp 710 (not shown) in the followingorder: mobile unit 743 (from branch 716), mobile unit 741 from branch717, mobile unit 744 from stall 704 and finally, mobile unit 742 fromloop 718. Any other order is also possible, as long as none of themobile units collide with any other mobile unit. According to someembodiments, the coordination between the various mobile units,including their positions on the branches and loops along the rail andtheir sequence of movements along the rail and in and out of the parkingarea, may be optimized such that the overall treatment time isminimized.

According to some embodiments, rail 715 loops out of ramp 710. In thisrespect, reference is made to FIGS. 7C and 7D. In FIG. 7C, for examplerail 715 loops out of ramp 710, into (or over) milking pit 750, and backinto parking area 760. Thus each one of the mobile units may perform anypart of the treatment and none of them interfere with the others, sincethey loop out of ramp 710 into/over milking pit 750, in the samesuccessive order that they enter ramp 710. It is noted that in order forhuman operators to be able to enter milking pit 750 it may be essentialto design rail 715 such that the human operators are not in danger fromthe mobile units. According to some embodiments, rail 715 loops out oframp 710 and is elevated in height and possibly placed on a plank, suchthat it passes over milking pit 750 in such a way that human operatorsare not endangered by the mobile units. According to furtherembodiments, rail 715 loops into milking pit 750 adjacent to ramp 710,possible fitted to a plank adjacent to ramp 710, such that the spaceoccupied by the rail and the mobile units operating thereon is minimal.According to some embodiments, the space occupied by the rail and themobile units may be separated from the surrounding milking pit areas byany appropriate means such as a barrier, bar and the like. According tosome embodiments, the barrier may be moveable, by any appropriate means,such that it blocks part of the milking pit only when mobile units arefound therein or may be found therein, or may be mobile therein. In FIG.7D for example, rail 715 loops out of ramp 710 in the area where theanimals usually leave the stalls. In order for the animals and themobile units to be separate, it is possible for the rail to travel at aheight above the tallest animal, possibly attached to or on a plank. Itis further possible for the rail to travel in a path that is ordinarilynot occupied by the livestock. It is also possible to have any type ofbar, border, trench, fence or the like, surrounding the area the railpasses through, not allowing the livestock to enter the rail area.

Reference is now made to FIG. 8, presenting an embodiment in which eachof mobile units 1441, 1442, 1443 and 1444 includes a control unit 1451,1452, 1453 and 1454, respectively, such that any one of mobile units1441, 1442, 1443 and 1444 may communicate/coordinate with any of theother mobile units, as well as with any other communicating entities inthe milking parlor (not shown). FIG. 9 presents an embodiment in whichmobile units 1541, 1542, 1543 and 1544 all communicate with centralmanagement unit 1550, and possibly with other communicating entities inthe milking parlor (not shown). Further, FIG. 10 presents an embodimentin which each of mobile units 1641, 1642, 1643 and 1644 includes acontrol unit 1651, 1652, 1653 and 1654, respectively, such that any oneof mobile units 1641, 1642, 1643, and 1644 may communicate/coordinatewith any of the other mobile units, as well as with central managementunit 1650 and possibly with other communicating entities in the milkingparlor (not shown). It is noted that the arrows in FIGS. 8, 9 and 10present communication between the two entities the arrows connect. It isfurther noted that the communication may be wired, or wireless, asdetailed herein, and that it may be one-way or two way communication, asrequired.

As detailed above, the communication between the mobile units, directlyor indirectly, via, e.g., control units 1451, 1452, 1453, 1454, 1651,1652, 1653 or 1654, central management unit 1550 or 1650, or any othercommunicating entities in the milking parlor (not shown), may optimizethe treatment of the livestock, enabling the various mobile units toperform different parts of the same task, to treat different animals, totake over tasks from one another when required, e.g., when one mobileunit malfunctions, to change roles before, during or after thetreatment, to refrain from colliding and the like.

Reference is now made to FIG. 11, presenting an embodiment of thevertical upright teat cup holders. As shown in FIG. 11, the verticalupright teat cup holder 1100 holds teat cups 1101, 1102, 1103 and 1104vertically upright, wherein the holes into which the teat enters (notshown) face upwards. In order to maintain vacuum in the system, withouthaving a valve on each one of tubes 1111, 1112 and 1114, which lead milkfrom teat cups 1101, 1102 and 1104, respectively, (or on the tubeleading from teat cup 1103, which is not shown) to the main milk line(not shown), and further in order to prevent contaminations fromentering the system, teat cups 1101 and 1102 are covered by flap 1110and teat cups 1103 and 1104 are covered by flap 1120. It is noted that,although not shown in FIG. 11, another tube leads from teat cup 1103 tothe main milkline. According to some embodiments, flaps 1110 and 1120mechanically lay on top of teat cups 1101, 1102, 1103 and 1104, and areheld approximately in their position, e.g., about 90° to the back ofvertical teat cup holder 1100, even after the teat cups are withdrawnfrom the holder, such that teat cups 1101, 1102, 1103 and 1104 areeasily inserted back into vertical upright holder 1100 when the milkingis concluded and are then covered by flaps 1110 and 1120.

As shown in FIG. 11, an angle of about 90° may be formed at theattachment point between each one of tubes 1111, 1112, 1114 and the tubeattached to teat cup 1103 (not shown) and the teat cup to which it isattached (a similar approximately 90° angle is presented in FIG. 14,between teat cup 1101 and tube 1441 as well as between teat cup 1102 andtube 1442). This may enable the teat cups to be withdrawn from verticalupright teat cup holder 1100 and to be returned thereto while minimizingentanglement between the various tubes, even though vertical uprightteat cup holder 1100 may be positioned towards the back of the animalbeing milked, not necessarily under or above the animal.

As further shown in FIG. 11, there is a difference in length betweenteat cups 1101 and 1103 and teat cups 1102 and 1104, wherein teat cups1101 and 1103 are longer than teat cups 1102 and 1104. In order for thetop end of teat cups 1101, 1102, 1103 and 1104 to be at the same height,teat cups 1102 and 1104 (the shorter teat cups) sit on step 1130,wherein the height of step 1130 is about the same as the difference inlength between short teat cups 1102 and 1104 and long teat cups 1101 and1103.

As further shown in FIG. 11, vertical teat cup holder 1100 comprises amultiple number of rollers 1140, some of which are not shown in thefigure. Rollers 1140 allow teat cups 1101, 1102, 1103 and 1104 to easilymove in and out of vertical teat cup holder 1100 by reducing thefriction during movement of teat cups 1101, 1102, 1103 and 1104 as wellas of tubes 1111, 1112, 1114, and the tube connected to teat cup 1103,which is not shown. Accordingly, since friction is reduced, the forcenecessary for withdrawing the teat cups from the holder and returningthem thereto is reduced. It is further noted that rollers 1140 may alsoaid in moving teat cups 1101, 1102, 1103 and 1104 and tubes 1111, 1112,1114 and the tube connected to teat cup 1103, along certain paths ortrajectories. In addition, rollers 1140 may aid in holding teat cups1101, 1102, 1103 and 1104 in place in their positions in verticalupright teat cup holder 1100. It is noted that rollers 1140 may bereplaced by any appropriate element, such as wheels, ball bearings andthe like, that may reduce the friction as detailed herein and possiblyaid in holding the teat cups in place.

Reference is now made to FIG. 12, presenting an embodiment of thelengthwise double gripper. As shown in FIG. 12, lengthwise doublegripper 1200 includes two gripping units 1201 and 1202, wherein each ofgripping units 1201 and 1202 may grip any appropriate object, such as ateat cup, an autonomous pre-milking brush, a post-milking disinfectiontool and the like. According to some embodiments, any one of grippingunits 1201 and 1202 may grip an object, operate an object, such as pressa button, move a lever, rotate a dial and the like, wherein the actionof each of the gripping units may independent of the other grippingunit. Thus, according to some embodiments, while gripping unit 1201performs one type of action, e.g., gripping, gripping unit 1202 mayperform the same or a different type of action, e.g., pressing a button.

As shown in FIG. 12, gripping unit 1202 may be longer than gripping unit1201 in order for the two gripping units to be able to grip two objectsat the same time, without those two objects getting in the way of oneanother.

For example, as shown in FIG. 13, mobile unit 1300, comprising arm 1301that is equipped with lengthwise double gripper 1200, may be positionedunder an animal's abdomen, wherein arm 1301 extends between animal'shind legs 1310 towards vertical upright holder 1100 in order to gripteat cups 1101 and 1102, which is positioned behind teat cup 1101, inorder to withdraw teat cups 1101 and 1102 from holder 1100 and attachthem to teats 1305 and 1306. It is noted that, when attaching the teatcups to the teats, teat cup 1102 will be attached to teat 1306 and onlythen will teat cup 1101 be attached to teat 1305, such that when arm1301 moves to attached the second teat cup or retracts towards mobileunit 1300, none of the teat cups will be hindered by the movement of arm1301.

As shown in FIG. 14, once lengthwise double gripper 1200 reachesvertical upright holder 1100 (not shown), gripping unit 1202 grips teatcup 1102, while gripping unit 1201 grips teat cup 1101. In order toproperly maneuver and grip the teat cups (or perform any other requiredaction), lengthwise double gripper 1200 and/or arm 1301 and/or mobileunit 1300 may be equipped with a detection element (not shown), e.g., alaser, an IR sensor or the like. The detection element may have field ofdetection 1400, through which data is received and may be transmitted,by any appropriate means, to a control system that provides motioninstructions to mobile unit 1300 and/or arm 1301, according to thereceived data. According to some embodiments, tops 1121 and 1122 of teatcups 1101 and 1102, respectively, are designed to be essentially thesame height even though bottoms 1131 and 1132 of teat cups 1101 and1102, respectively are staggered. Accordingly, since tops 1121 and 1122are at the same height, field of detection 1400 is not hindered by anyof the teat cups and therefore, the detection element has “full view” ofthe area around it.

As shown in FIG. 14, bottoms 1131 and 1132 are staggered, since teat cup1102 is shorter than teat cup 1101. This enables the two teat cups to bein line, one in back of the other, without tubes 1441 and 1442 hinderingone another, so that lengthwise double gripper 1200 may grip both teatcups 1101 and 1102 simultaneously and maneuver them as necessary.

As further shown in FIG. 14, teat cup 1101 comprises two grooves 1401and 1402 and teat cup 1102 comprises two grooves 1403 and 1404, whereingrooves 1401, 1402, 1403 and 1404 enable lengthwise double gripper 1200to securely grip the two teat cups, i.e., teat cups 1101 and 1102.

Once teat cups 1101 and 1102 are gripped by lengthwise double gripper1200, as shown in FIG. 14, they are withdrawn from vertical uprightholder 1100 (see FIG. 13) and are maneuvered into the proximity of teats1305 and 1306 by arm 1301. As shown in FIG. 15, lengthwise doublegripper 1200 grips teat cup 1101 with gripping unit 1201 and teat cup1102 with gripping unit 1202. When attaching the teat cups to theanimal, the back teat cup is attached to the back teat before the frontteat cup is attached to the front teat, wherein the back and frontdirections are the same as the back and front directions of the animal.Thus, as shown in FIG. 15, first, teat cup 1102 is attached to teat 1306and is then released from gripper 1202 (it is noted that gripping unit1202 is not fully shown in FIG. 15 in order to provide a better view ofteat cup 1102 and to emphasize that once teat cup 1102 is attached toteat 1306 it is released by gripping unit 1202). After teat cup 1102 isattached to teat 1306, arm 1301 (as shown in FIG. 13) maneuvers teat cup1101 towards teat 1305, to which it is attached (not shown). Once teatcup 1101 is attached to teat 1305, gripping unit 1201 releases teat cup1101 and arm 1301 retreats towards mobile unit 1300 and/or is maneuveredto withdraw teat cups 1103 and 1104 (as shown in FIG. 11) from verticalupright teat cup holder 1100, in order to attach teat cups 1103 and 1104to the two remaining teats (now shown).

Reference is now made to FIG. 16, presenting an embodiment of the systemincluding a vertical upright teat cup holder comprising tubes, flaps,axels and a piston. As shown in FIG. 16, system 1600 includes verticalupright teat cup holder 1100 for holding teat cups 1101, 1102, 1103 and1104. Mobile unit 1300, positioned under the abdomen of cow 1610 extendsarm 1301, comprising lengthwise double gripper 1200, and utilizeslengthwise double gripper 1200 to grip teat cups 1101 and 1102, removingthem from under flap 1110 and from vertical upright holder 1100, leavingteat cups 1103 and 1104 under flap 1120 and in vertical upright holder1100, to be withdrawn therefrom at a later stage.

Each one of teat cups 1101, 1102, 1103 and 1104 is attached to tube1441, 1442, 1443 and 1444, respectively, wherein milk entering teat cups1101, 1102, 1103 and 1104 flows through tubes 1441, 1442, 1443 and 1444into the main milk line (not shown). As known in the art, vacuum isprovided through tubes 1441, 1442, 1443 and 1444 in order to milk cow1610. Once the milking is concluded, teat cups 1101, 1102, 1103 and 1104are released from the teats and returned to vertical upright holder 1100by any appropriate means. According to some embodiments, teat cups 1101,1102, 1103 and 1104 are released from the teats by release of the vacuumin tubes 1441, 1442, 1443 and 1444. According to some embodiments, onceteat cups 1101, 1102, 1103 and 1104 are released from the teats, theyare returned to vertical upright teat cup holder 1100 by a pulling forcethat pulls them backwards towards vertical teat cup holder 1100.According to some embodiments, all teat cups are pulled together, theteat cups are pulled back in pairs, one by one, or any other appropriatecombination. According to some embodiments, piston 1620 provides apuling force for pulling teat cups 1101, 1102, 1103 and 1104 back intovertical upright holder 1100. According to some embodiments, at leastone motor (not shown) provides such force. According to someembodiments, teat cups 1101, 1102, 1103 and 1104 are pulled back intovertical upright holder 1100 in pairs by two pistons, one of which isnot shown, two motors, or the like. According to some embodiments, whenteat cups 1101, 1102, 1103 and 1104 are returned to vertical uprightholder 1100 in pairs, first the back teat cups, i.e., teat cups 1102 and1104 are returned and then the front teat cups, i.e., teat cups 1101 and1103 are returned.

Reference is now made to FIG. 17A, presenting the back side view of anembodiment of vertical upright holder 1100, showing tubes 1441, 1442,1443 and 1444, leading from the teat cups to the main milk line (notshown), wherein each pair of tubes is attached a set of axels andwheels. Particularly, as shown in FIG. 17A, tubes 1441 and 1443, whichare attached to teat cups 1101 and 1103, respectively, are attached toaxel and wheel set 1720, while tubes 1142 and 1144, which are attachedto teat cups 1102 and 1104, respectively, are attached to axel and wheelset 1710. Thus, axel and wheel set 1710 aids in returning the back teatcups, i.e., teat cups 1102 and 1104, into vertical upright holder 1100.Once the back teat cups 1102 and 1104 are returned to vertical uprightholder 1100, axel and wheel set 1720 aids in returning the front teatcups, i.e., teat cups 1101 and 1103, into vertical upright holder 1100.As mentioned above, any appropriate means, such as a motor, a piston andthe like, such as piston 1620 in FIG. 16, may be included in the systemin order to move axel and wheel sets 1710 and 1720, as necessary,wherein each axel and wheel set may be coupled to a separate motor,piston or the like. Particularly, according to this embodiment, tubes1441, 1442, 1443 and 1444 are pulled on backwards and/or downwards,i.e., in a direction that causes teat cups 1101, 1102, 1103 and 1104 tomove away from the animal and back into vertical upright holder 1100.Thus, pulling on tubes 1441, 1442, 1443 and 1444 essentially returnsteat cups 1101, 1102, 1103 and 1104 into vertical upright holder 1100.It is noted that although this particular embodiment is shown, anynumber of wheels/axels/pistons/motors may be attached to any number oftubes/teat cups.

Reference is now made to FIG. 17B, presenting a front-side view ofanother embodiment of vertical upright holder 1100, showing manifold1750 for gathering the milk from the four tubes 1441, 1442, 1443 and1444 into vessel 1755, from which a single tube, 1756 leads the milkflowing through the tube to the main milk line (not shown) possibly viaany further equipment, such as a milk monitor (not shown). Although notdirectly shown in FIG. 17B, each one of tubes 1441, 1442, 1443 and 1444may be attached to each one of teat cups 1101, 1102, 1103 and 1104,possibly via any additional tubes, valves, connecting elements and thelike, as shown, e.g., in FIGS. 14, 16 and 17A.

As further presented in FIG. 17B, the system of the invention mayinclude two vertical pistons 1730 and 1740, one of which may operatewheel and axel set 1710, while the other may operate wheel and axel set1720. When operated, e.g., moved vertically by any one of pistons 1730and 1740, wheel and axel set 1710 may pull on tubes 1442 and 1444,pulling in turn on teat cups 1102 and 1104, thereby returning teat cups1102 and 1104 into vertical upright teat cup holder 1100. Similarly,when operated, wheel and axel set 1720 may pull on tubes 1441 and 1443,pulling in turn on teat cups 1101 and 1103, thereby returning teat cups1101 and 1103 into vertical upright teat cup holder 1100.

As detailed herein, pistons 1730 and/or 1740 may be replaced by anysuitable motor. Further, as detailed herein, the invention is not boundto comprising two pistons/motors. Any appropriate number may be used inorder to operate any appropriate number of wheel and axel sets, whereinthe operation of the wheel and axel sets consists essentially of pullingon the tubes leading from teat cups 1101, 1102, 1103 and 1104, such thatteat cups 1101, 1102, 1103 and 1104 are pulled back from the animal andreturned into vertical upright holder 1100.

Reference is now made to FIG. 17C, presenting a front-side view of anembodiment of the vertical upright teat cup holder 1100, includingintegrated teat cup and tube separators 1760 and 1770. Integrated teatcup and tube separators 1760 and 1770 are positioned and shaped suchthat when teat cups 1101, 1102, 1103 and 1104 are returned to verticalupright teat cup holder 1100, the entanglement between the tubes (notshown) leading from each one if teat cups 1101, 1102, 1103 and 1104, isminimized.

It is noted that vertical upright teat cup holder 1100 may include anynumber of integrated teat cup and tube separators. In the particularembodiment shown, integrated teat cup and tube separator 1770 ispositioned inside vertical upright teat cup holder 1100 between teatcups 1101/1102 and teat cups 1103/1104. Thus, integrated teat cup andtube separator 1770 ensured that each one of teat cups 1101, 1102, 1103and 1104 is returned to its proper position inside vertical upright teatcup holder 1100. Integrated teat cup and tube separator 1770 may befurther designed such that the teat cups adjacent thereto are heldupright, minimizing their “wobbling” or “rocking” motion within verticalupright teat cup holder 1100.

As shown in FIG. 17C, vertical upright teat cup holder 1100 may includeintegrated teat cup and tube separator 1760, which protrudes out ofvertical upright teat cup holder 1100 and into the stall/ramp (notshown). Integrated teat cup and tube separator 1760 may be designed suchthat entanglement of the tubes (not shown) is minimized. Integrated teatcup and tube separator 1760 may be specifically designed to fit the type(size, shape etc.) of tubes used and the type of teat cups used (size,shape, etc.).

As shown in FIGS. 17C and 17D, according to some embodiments, integratedteat cup and tube separator 1760 is designed approximately as a rightangle triangular pyramid, wherein the approximately 90° angle thereofmay be adjacent to a bottom end of integrated teat cup and tubeseparator 1770. When referring to the bottom end of integrated teat cupand tube separator 1770 it is noted that any appropriate region near thebottom of integrated teat cup and tube separator 1770 is also included.According to some embodiments, base length 1763 of the triangularpyramid integrated teat cup and tube separator 1760 may have a length ofbetween about 40-120 mm (wherein base length 1763 is defined as thelength of the cross section of the pyramid). According to someembodiments, height 1761 of the triangular pyramid integrated teat cupand tube separator 1760 may be between about 60-150 mm (wherein height1761 is defined as the highest line in the cross section, e.g., whereseparator 1760 is adjacent to separator 1770). According to someembodiments, base width 1762 of the triangular pyramid integrated teatcup and tube separator 1760 may be between about 5-20 mm (wherein basewidth 1762 is the side of the triangular pyramid integrated teat cup andtube separator 1760 that may be adjacent to separator 1770 and that maybe at the about 90° angle of the pyramid).

It is noted that although a triangular shape is detailed herein, anyother appropriate shape may be used for the integrated teat cup and tubeseparator 1760, e.g., an approximate triangular or triangular pyramidshape, wherein any one of the sides may be at least slightly curved orwherein any of the vertices may be trimmed, such that an additional,possibly small, side/edge is formed. It is further noted that althoughtwo separate integrated teat cup and tube separators 1760 and 1770 aredescribed, one integrated teat cup and tube separator may be included inthe system, wherein the single separator may have the approximate shapeof the combination of the two integrated teat cup and tube separators1760 and 1770.

As further shown in FIG. 17C and as detailed regarding FIG. 11, verticalupright teat cup holder 1100 may include any number of rollers 1140,some of which are not shown in the figure. Rollers 1140 allow teat cups1101, 1102, 1103 and 1104 to easily move in and out of vertical teat cupholder 1100 by reducing the friction during movement of teat cups 1101,1102, 1103 and 1104 as well as of tubes 1111, 1112, 1114, and the tubeconnected to teat cup 1103, which is not shown. Accordingly, sincefriction is reduced, the force necessary for withdrawing the teat cupsfrom the holder and returning them thereto is reduced. It is furthernoted that rollers 1140 may also aid in moving teat cups 1101, 1102,1103 and 1104 and tubes 1111, 1112, 1114 and the tube connected to teatcup 1103, along certain paths or trajectories. In addition, rollers 1140may aid in holding teat cups 1101, 1102, 1103 and 1104 in place in theirpositions in vertical upright teat cup holder 1100. It is noted thatrollers 1140 may be replaced by any appropriate element, such as wheels,ball bearings and the like, that may reduce the friction as detailedherein and possibly aid in holding the teat cups in place.

Reference is now made to FIG. 18A, presenting an embodiment ofnon-planar leg separator 1800. As shown in FIG. 16, non-planar legseparator 1800 is positioned on the floor of ramp 1650, between the hindlegs of cow 1610, and essentially causes cow 1610 to separate its hindlegs, since non-planar leg separator 1800 is uncomfortable for cow 1610to stand on. As shown in FIG. 18A, non-planar leg separator 1800includes rods 1810 and cross rods 1820. Although six rods 1819 and fourcross rods 1820 are shown in FIG. 18A, it is noted that any appropriatenumber of rods and cross rods may be used. Further, although all rodsand cross rods shown in FIG. 18A are of the same length and diameter, itis noted they may differ from and further, they may be of anyappropriate shape, not necessarily rounded rods. The size of the spacesbetween the rods/cross rods, e.g., space 1830 may also be changed asappropriate. The degree of the arch, as well as the number of arches andtheir shape may be determined as necessary. It is noted that the legseparator referred to herein is a non-planar leg separator, andtherefore, it is referred to as being arched, or including a number ofarches. It is further noted that any of the rods and/or cross rods maybe on different planes and at different heights in comparison to oneanother and to the platform on which the non-planar leg separator ispositioned, essentially defining the non-planar characteristic of theleg separator, may be described as arches or linear lines or any othershape. It is noted that the arch-like (or other) shape of the non-planarleg separator may be formed by including rods and cross rods ofdifferent diameters in the same non-planar leg separator.

Reference is now made to FIG. 18B, presenting non-planar leg separator1850 comprising middle rods 1860 and end-rods 1870. It is noted that,although no shown, any number of cross bars may be present. It isfurther noted that non-planar leg separator 1850 may be arched, waved,linearly non-planar or the like, wherein any of middle rods 1860 andend-rods 1870 may be on a different plane and at a different height, incomparison to one another and to the platform on which non-planar legseparator 1850 is positioned. As presented in FIG. 18B, end-rods 1870may have a diameter larger than the diameter of middle rods 1860. Asshown in FIG. 18B, different sections of end rods 1870 may havedifferent diameters, wherein at least one of those sections may have adiameter larger than the diameter of middle rods 1860. Each of themilking stalls may be equipped with a leg separator, e.g., non-planarleg separator 1850. Having end rods of larger diameter may allow theanimal to walk over non-planar leg separators 1850, in order to reachthe next vacant milking stall; however, once in the milking stall, thelarge diameter of end rods 1870 may cause the animal to refrain fromstanding on non-planar leg separator 1850, thus causing the animals legsto be separated, allowing the treatment, including milking, of theanimal.

Reference is now made to FIGS. 19A and 19B, presenting embodiments ofautonomous pre-milking brush 1900. According to the embodiment shown inFIGS. 19A and 19B, autonomous pre-milking brush 1900 includes tworotating brushes 1901 and 1902, which, upon rotation, may both sanitizeand stimulate the teat, which is positioned between rotating brushes1901 and 1902. As detailed above, rotating brushes 1901 and 1902 may besprayed, e.g., by an element of the upright teat cup holder, with adisinfectant/water before contact with the teat, possibly a quick actingdisinfectant, such that rotating brushes 1901 and 1902 themselves areboth sanitized and wet and accordingly sanitize and stimulate the teatswith their rotational movement and do not harm the teats since they arewet. According to other embodiments, rotating brushes 1901 and 1902 maybe sprayed with disinfectant/water while contacting the teats.

According to some embodiments, the rotation of rotating brushes 1901 and1902 is activated by switch 1910. According to some embodiments,lengthwise double gripper 1200, as shown e.g., in FIG. 12, gripsautonomous pre-milking brush 1900 from its docking station, e.g., onvertical upright holder 1100, and maneuvers it, when necessary, to theanimals' teats. According to some embodiments, one of gripping units1201 or 1202 is utilized to grip and autonomous pre-milking brush 1900,while the second one of gripping units 1201 or 1202 is utilized to pressswitch 1910, thereby activating rotating brushes 1901 and 1902. Althoughnot shown, any one of gripping units 1201 and 1202 may be utilized tocause disinfectant to be sprayed onto rotating brushes 1901 and 1902,e.g., by pressing a switch on vertical upright holder 1100 or the like.Further, although not shown, autonomous pre-milking brush 1900 includesa battery, e.g., a rechargeable battery, which is recharged when theautonomous pre-milking brush 1900 is placed in its docking station.According to some embodiments, the docking station is water proof.

According to the embodiment presented in FIG. 19A, autonomouspre-milking brush 1900 includes handle 1920, which is designed to beheld or gripped by any appropriate means, including any one or both ofgripping units 1201 and 1202. According to the embodiment presented inFIG. 19B, autonomous pre-milking brush 1900 includes handle 1930, whichis designed to be held or gripped by any appropriate means, such asmanually, by a human operator's hand. It is noted that the handle ofautonomous pre-milking brush 1900 may be designed such that it may begripped and used well by any number of means, including mechanicalmeans, such as gripping units 1201 and 1202, as well as manual means,such as a human operator hands.

Reference is now made to FIG. 19C, in which is it shown that, accordingto some embodiments, autonomous pre-milking brush 1900 includes liquidreceptacle 1940. Any type of liquid, e.g., sanitizing liquid or water,may be introduced into liquid receptacle 1940, from where the liquid maybe sprayed via, e.g., a nozzle (not shown), onto brushes 1901 and 1902,onto the animal's teats (not shown) or both.

According to some embodiments, switch 1910 may activate the rotation ofrotating brushes 1901 and 1902 as well as activating the spraying ofliquid from liquid receptacle 1940 onto rotating brushes 1901 and 1902and/or onto the animal's teats. According to some embodiments,activating switch 1910 once activates both the spraying of the liquidand the rotating of the brushes, either simultaneously or consecutively.According to some embodiments, activating switch 1910 once firstactivate spraying the liquid onto the brushes/teats and then, after apredetermined time, the brushes begin to rotate.

Further, although not all elements are shown in the Figures, it is notedthat the autonomous pre-milking brush may include the followingelements: a motor and a rechargeable battery. It is further noted thataccording to some embodiments, the autonomous pre-milking brush includesa direct drive motor. According to some embodiments, the autonomouspre-milking brush includes a motor for each brush, e.g., when includingtwo brushes, two motors are included as well, wherein each motoroperates one brush. According to other embodiments, any number ofbrushes, e.g., 1, 2, 3, 4, 5 etc., may be operated by one motor.According to some embodiments, the motor used is highly durable,provides high speeds, while requiring a relatively low electric currentflow. According to some embodiments, the motor is an RC servos motor.According to some embodiments, the operating speed of the motor isbetween about 70-300 rpm. According to some embodiments, the stalltorque of the motor is between about 1-4 Nm.

Further, although not shown in the Figures, switch 1910 may be replacedwith any appropriate magnetic sensor. According to some embodiments, themobile unit, e.g., the arm of the mobile unit or any element on the arm,such as the gripper, may include any appropriate magnetic sensor inorder to operate the pre-milking brush.

Reference is now made to FIG. 20, presenting post-milking disinfectiontool 2000. As shown, post-milking disinfection tool 2000 comprisesdipping chamber 2001, which is filled with a disinfectant (not shown)and filling detection element 2010. According to some embodiments,post-milking disinfection tool 2000 further comprises a brush (notshown), which may be positioned, at least partially, around the entranceof dipping chamber 2001. When post-milking disinfection is required,post-milking disinfection tool 2000 is brought into contact with theanimal's teat, wherein post-milking disinfection tool 2000 is pushed uptowards the teat, such that the teat is dipped in the disinfectant foundin the dipping chamber. If post-milking disinfection tool 2000 includesa brush, the brush may brush the disinfectant on the teat, therebyspreading the disinfectant on the teat. It is noted that post-milkingdisinfection tool 2000 may be maneuvered manually or by a mobile unit,e.g., being gripped by a gripping element attached to the mobile unit,e.g., lengthwise double gripper 1200, as shown in FIG. 12.

As shown in FIG. 20, post-milking disinfection tool 2000 includesfilling detection element 2010, which may detect the amount ofdisinfectant in dipping chamber 2001, or may simply detect whetherdipping chamber 2001 needs to be filled. In the embodiment shown,filling detection element 2010 is a mechanical float the height of whichis detected by a sensor, e.g., a laser, on the mobile unit, e.g., on thearm of the mobile unit, e.g., on a gripping element (not shown). If theheight of filling detection element 2010 is below a predefined value,the system is alerted that dipping chamber 2001 needs to be filled andtherefore, post-milking disinfection tool 2000 is brought to a fillingstation.

Reference is now made to FIG. 21, presenting an embodiment of fillingstation 2100. As mentioned above, post-milking disinfection tool 2000may be maneuvered by a mobile unit, e.g., being gripped by lengthwisedouble gripper 1200. As shown in FIG. 21, gripping unit 1201 gripspost-milking disinfection tool 2000, while gripping unit 1202 pressesfilling activator 2110, in order to fill dipping chamber 2001 withdisinfectant (not shown), which flows through tube 2101. Once the systemdetects, e.g., by a laser on lengthwise double gripper 1200 (not shown)that filling detection element 2010 reaches a predefined height, thefilling is ceased, e.g., by gripping unit 1202 releasing fillingactivator 2110. Once filled, post-milking disinfection tool 2000 may bemaneuvered back to the teat of an animal by the mobile unit andlengthwise double gripper 1200. When the post-milking disinfection isconcluded, post-milking disinfection tool 2000 may be stored for furtheruse in filling station 2100, which may further serve as a dockingstation.

Although not shown in the Figures, it is noted that any of the elementsin autonomous pre-milking brush 1900, post milking disinfection tool2000, filling station 2100, or any other embodiments of a pre-milkingbrush, a post milking disinfection tool or a filing station, may beactivated by magnetic sensors. Each of those elements may include anappropriate magnetic sensor, as may any of the mobile units describedherein, including the arm of the mobile unit, the gripper and the like.

Reference is now made to FIG. 22A presenting an embodiment of the railproviding electricity to the mobile unit under wet and unsanitaryconditions. As presented in FIG. 22A, rail 2200 includes internalhousing 2201, which houses contactors 2210. Gliding cart 2202, alsofound in internal housing 2201, prepared from a conductive material, isin contact with contactors 2210. Gliding cart 2202 is further in contactwith (or is coupled to) mobile unit 2220 (not fully shown) viaconductive rod 2203 and therefore, electricity is passed from contactors2210, through gliding cart 2202 and conductive rod 2203 to mobile unit2220. As detailed above, mobile unit 2220 comprises a motor that allowsmobile unit 2220 to move along rail 2200, wherein gliding cart 2202,attached to mobile unit 2220, is pulled along the rail, inside housing2201, together with mobile unit 2220.

Further, as detailed above, since rail 2200 is positioned on the floorof the ramp in the milking parlor, i.e., where the animals stand andwalk, rail 2200 is designed such that water and contaminations do notcome in contact with gliding cart 2202, contactors 2210, conductive rod2203, or any other electrical elements. Accordingly, exposed electricalelements, such as conductive rod 2203 are securely insulated. Further,the entrance of conductive rod 2203 into internal housing 2201 may bethrough a rubber stopper 2204 and/or a water block 2205, wherein waterblock 2205 may have a labyrinth shape, as shown.

In addition, as presented in FIG. 22B, the entrance of conductive rod2203 into internal housing 2201 may be protected by curtain element2206. Curtain element 2206 may be prepared from any appropriate flexiblematerial, such as silicone or rubber. Curtin element 2206 may bedesigned and intended to protect the duct through which conductive rod2203 passes into rail 2200, possibly including internal housing 2201 andcontactors 2210. Thus, curtain 2206 prevents water and contaminationsfrom entering into rail 2200, and contacting the electrical elementsfound therein. In order for curtain 2206 to be securely fastened againstrail 2200, wheels 2207 and 2208 are positioned on both sides ofconductive rod 2203, such that they press on curtain 2206, assuring thatit is securely fastened against rail 2200.

Gliding cart 2202, which may be coupled to mobile unit 2220 viaconductive rod 2203, may be further coupled to mobile unit 2220 via anyadditional elements, such as coupler 2209, which may be connected toboth mobile unit 2220 as well as to gliding cart 2202. Wheels 2207 and2208 may be attached to both sides of coupler 2209, as presented in FIG.22B; however, it is noted that any configuration of wheels 2207 and 2208may be possible, as long as they operate in order to secure curtain 2206against rail 2200, thereby preventing the entrance ofwater/contaminations into rail 2200. It is further noted that althoughwheels are exemplified herein, any other element, such as a roller, oreven a strip of any type of firm material may be used to replace any oneof wheels 2207 and 2208, as long as water/contaminations are preventedfrom entering into rail 2200.

According to some embodiments, a zipper element, such as a Ziploc®element may be included in curtain 2206 and/or rail 2200, such thatcurtain 2206 is secured against rail 2200 by such a zipper element.

Reference is now made to FIG. 23, presenting system 2300, according toan embodiment of the invention in a parallel milking parlor, comprisingrail 2315. Rail 2315 comprises parking areas, first parking area 2320and second parking area 2321. As shown in FIG. 23, second parking area2321 is beyond barrier 2330 and therefore, when mobile unit 2342 (or anyother mobile unit) is found in parking area 2321, there is nopossibility of contact thereof with any of the animals in the milkingparlor. However, parking area 2320 is not found beyond any barrier andtherefore, according to some embodiments, measurements are made in orderto ensure that animals entering/exiting the parallel milking ramp orplatform do not, even minimally, collide with any of the mobile units,e.g., mobile unit 2341.

According to the embodiment presented in FIG. 23, rail 2315 includessegment 2316, stretching into parking area 2320 as well as segment 2317,stretching into parking area 2321. Since, as mentioned above, nocollisions between animals and mobile unit are possible in parking area2321, such collisions need not be accounted for in parking area 2321 andtherefore, segment 2317, which is found in parking area 2321, may be asimple continuation of rail 2315, e.g., in a straight line, as shown inFIG. 23. In contrast, as mentioned above, in parking area 2320 suchcollisions are theoretically possible and therefore, parking area 2320and segment 2316 must be designed accordingly, in order to prevent suchcollisions. Therefore, as shown in FIG. 23, segment 2316 has an arc-likeshape, wherein the parameters of the arc are set such that mobile unit2341 may easily maneuver along segment 2316 and continue smoothly alongthe entire length of rail 2315. The parameters of the arc are furtherset such that the path on which the animals travel when entering/exitingthe milking stalls does not intercept the area along segment 2316 onwhich mobile units, such as mobile unit 2341, may park.

Reference is now made to FIG. 24, presenting hip separator 2400. Hipseparator 2400 may be connected to any element in any existing milkingparlor, wherein hip separator 2400 is intended to be positionedapproximately at the hip height of the animals at the rear end of themilking stall, such that the hips of animals standing in adjacent stallswill be separated from one another. A designated hip separator 2400 maybe positioned between every two milking stalls. The shape, dimensionsand materials from which hip separator 2400 is prepared may be definedsuch that the hips of the animals are indeed separated when standing inthe milking stalls, while not interfering with the movements of theanimals between the milking stalls, e.g., when the animals are enteringthe milking stalls. According to some embodiments, hip separator 2400 isprepared from a rubber that is flexible enough to allow the animals towalk into the stall, while being rigid enough to ensure that the hips ofthe animals are separated. According to some embodiments, the positionof the hip separator may change according to the occupancy of themilking stalls. For example, when the animals enter the milking stalls,hip separators 2400 may be in a folded position, e.g., folded againstthe back railing of the milking stalls. Once the animal enters themilking stall, the movement of the animals may mechanically change theposition of the hip separators to unfold and be position between theanimal in the stall that was just occupied to the next stall in line(similar to the head barriers that separate the stalls from oneanother). According to other embodiments, sensor that detect the changein position of the animal, i.e., that detect an animal standing in astall, may electronically send a command causing hip separators 2400 tounfold between the stall that was currently occupied and the next stallin line. Although hip separator 2400 is designed as a “U” shapedelement, it is noted that any other appropriate shape or designed may becontemplated.

Reference is now made to FIGS. 25A and 25B, presenting an embodiment ofarm 2515, in the non-extended (FIG. 25A) and extended (FIG. 25B)configurations, wherein arm 2515 is attached to gripper 2550. As shownin FIGS. 25A and 25B arm 2515 is a telescopic arm that has both anon-extended configuration (FIG. 25A), in which the telescopic elementis folded, and an extended configuration (FIG. 25B), in which thetelescopic element is unfolded. Extensions 2560 allows gripper 2550 tobe positioned on top of the telescopic element of arm 2515, such thatthe overall length of arm 2515, from left to right, is determined onlyaccording to the length of the longest section of the telescopicelement, without any addition of length due to gripper 2550. As detailedherein, the compact size of the mobile unit and the arm thereof mayallow the mobile unit to move freely under the animals. Therefore, theconfiguration of arm 2515, including extensions 2560, which allowgripper 2550 to be placed above, rather than beside, arm 2515 in thefolded or non-extended configuration, provides an overall compact mobileunit (not completely shown in FIGS. 25A and 25B), that may move freelyunder the animals as well as throughout the milking parlor.

Reference is now made to FIG. 26, presenting an embodiment of arm 2615in an extended configuration. As presented in FIG. 26, arm 2615 includesball screw 2620 and belt 2625, fitted around pulley wheels 2666 and2667, allowing the extension of arm 2615 to the extended configuration,as presented in FIG. 26. In this respect it is noted that conventionalsimilar telescopic arms, having three telescopic segments, are known inthe art to be fitted with two belts and pulleys in order to be fullyextended, while according to the embodiment presented in FIG. 26, onlyone belt 2625, fitted around pulley wheels 2666 and 2667, is utilized,together with ball screw 2615.

Unless explicitly stated, the method embodiments described herein arenot constrained to a particular order or sequence. Additionally, some ofthe described method embodiments or elements thereof can occur or beperformed simultaneously, at the same point in time, or concurrently.

While certain features of the invention have been illustrated anddescribed herein, many modifications, substitutions, changes, andequivalents may occur to those skilled in the art. It is, therefore, tobe understood that the appended claims are intended to cover all suchmodifications and changes as fall within the true spirit of theinvention.

What is claimed is:
 1. A vertical upright teat cup holder comprisingteat cups, wherein the teat cups comprise holes in which the teats arepositioned, and in which the teat cups are positioned vertically uprightin the teat cup holder, such that the holes in which the teats arepositioned face upwards, wherein the vertical upright teat cup holdercomprises: a first step and a second step being positioned at differentheights, thereby forming a difference in height between the first stepand the second step; and a first teat cup and a second teat cup, eachhaving a top, wherein there is a difference in length between the firstteat cup and the second teat cup, and wherein the difference in heightbetween the first step and the second step is approximately the same asthe difference in length between the first teat cup and the second teatcup, such that when the first teat cup rests on the first step and thesecond teat rests on the second step, the position of the tops of thefirst and second teat cups is approximately at the same height.
 2. Thevertical upright teat cup holder according to claim 1, furthercomprising a manifold attached to tubes leading milk from the teat cupsand to another tube leading milk into a main milk line.
 3. The verticalupright teat cup holder according to claim 1, wherein the teat cupscomprise a double groove.
 4. The vertical upright teat cup holderaccording to claim 1, further comprising at least one flap for coveringat least one teat cup.
 5. A system for treating dairy livestock havingfore legs and hind legs comprising: a ramp; livestock stalls positionedalong at least part of the ramp, wherein each stall is configured tocontain one dairy livestock; at least one vertical upright teat cupholder according to claim 1; a mobile unit comprising equipment fortreating livestock and a processor, the mobile unit configured to:travel between the fore legs and hind legs of the dairy livestock on theramp; and use the equipment to perform at least one action related to atreatment of the dairy livestock; and wherein the equipment includes anarm configured to withdraw the teat cups from the vertical upright teatcup holder and connect them to the dairy livestock.
 6. The systemaccording to claim 5, wherein the ramp is a rotary milking parlor ramp.7. The system according to claim 6, wherein the at least one verticalupright teat cup holder is positioned between two stalls.
 8. The systemaccording to claim 5, wherein the ramp is a parallel milking parlorramp.
 9. The system according to claim 8, wherein the system includestwo parallel ramps or more.
 10. The system according to claim 8, whereinat least one vertical upright teat cup holder is positioned in line witha space between the hind legs of said dairy livestock.
 11. The systemaccording to claim 5, further comprising a parking area configured tocontain parked mobile units.
 12. The system according to claim 5 furthercomprising a milking pit adjacent to the ramp, wherein at least onevertical upright teat cup holder is positioned, at least partially, inthe milking pit.
 13. The system according to claim 5, wherein the armcomprises a lengthwise double gripper.
 14. The system according to claim5, further comprising at least one non-planar leg separator on the rampin each stall, wherein said at least one non-planar leg separator ispositioned between the hind leg of an animal, when standing in thestall.
 15. The system according to claim 5, further comprising anautonomous pre-milking brush that may be utilized manually or by themobile unit in order to sanitize the animal's teat and to stimulate milkrelease.
 16. The system according to claim 15, wherein the autonomouspre-milking brush comprises: at least two brushes; at least one motor; arechargeable battery; a charging slot; a handle; a switch; a nozzle; anda liquid reservoir.
 17. The system according to claim 5, furthercomprising a post-milking disinfection tool and a filling station,wherein the post-milking disinfection tool comprises a dipping chamberand a filling detection element.
 18. The system according to claim 5,wherein the arm is further configured to remove the teat cups from thedairy livestock, after which they are returned to the vertical uprightteat cup holder.
 19. The system according to claim 18, wherein the teatcups are withdrawn from the upright teat cup holder in a first order andreturned thereto in a second order.
 20. The system according to claim18, wherein the teat cups are returned to the vertical teat cup holderby a pulling force exerted on tubes connected to the teat cups.
 21. Thesystem according to claim 5 further comprising a milking pit, whereinthe mobile unit is configured such that it does not enter the milkingpit or does not extend the arm into the milking pit.
 22. A system fortreating dairy livestock having fore legs and hind legs comprising: aramp; livestock stalls positioned along at least part of the ramp,wherein each stall is configured to contain one dairy livestock; a railstretching along at least part of the ramp; at least one verticalupright teat cup holder according to claim 1; a mobile unit comprisingequipment for treating livestock and a processor, the mobile unitconfigured to: travel between the fore legs and hind legs of the dairylivestock on the ramp and along the rail; and use the equipment toperform at least one action related to a treatment of the dairylivestock; and wherein the equipment includes an arm configured towithdraw the teat cups from the vertical upright teat cup holder andconnect them to the dairy livestock.
 23. A system for treating dairylivestock having fore legs and hind legs comprising: a ramp; livestockstalls positioned along at least part of the ramp, wherein each stall isconfigured to contain one dairy livestock; at least one vertical uprightteat cup holder according to claim 1; a plurality of mobile units,wherein each mobile unit comprises: equipment for treating livestock,communication means and a processor, and wherein each mobile unit isconfigured to: travel between the fore legs and hind legs of the dairylivestock on the ramp; use the equipment to perform at least one actionrelated to a treatment of the dairy livestock; and coordinate with anyother mobile unit, with a central management unit, with an externalcommunication means, or any combination thereof; wherein the equipmentincludes an arm configured to withdraw the teat cups from the verticalupright teat cup holder and connect them to the dairy livestock.
 24. Thesystem according to claim 23, wherein the at least one vertical uprightteat cup holder comprises at least one flap for covering the teat cups.25. The system according to claim 24, wherein the teat cups areconnected to the main milk line such that the system does not includepressure valves for controlling pressure in the teat cups.
 26. Thesystem according to claim 23, wherein the rail provides electricity tothe mobile unit under wet and unsanitary conditions and wherein the railcomprises an internal housing that houses contactors and a gliding cartin contact with the contactor, wherein said gliding cart is preparedfrom a conducting material and is coupled to the mobile unit via aconductive rod.
 27. A system for treating dairy livestock having forelegs and hind legs comprising: a ramp; a rail stretching along at leastpart of the ramp; livestock stalls positioned along at least part of theramp, wherein each stall is configured to contain one dairy livestock;at least one vertical upright teat cup holder according to claim 1; aplurality of mobile units, wherein each mobile unit comprises: equipmentfor treating livestock, communication means and a processor, and whereineach mobile unit is configured to: travel between the fore legs and hindlegs of the dairy livestock on the ramp and along the rail; use theequipment to perform at least one action related to a treatment of thedairy livestock; and coordinate with any other mobile unit, with acentral management unit, with an external communication means, or anycombination thereof; wherein the equipment includes an arm configured towithdraw the teat cups from the vertical upright teat cup holder andconnect them to the dairy livestock.
 28. The system according to claim27, wherein the at least one vertical upright teat cup holder comprisesat least one flap for covering the teat cups.
 29. The system accordingto claim 28, wherein the teat cups are connected to the main milk linesuch that the system does not include pressure valves for controllingpressure in the teat cups.
 30. The system according to claim 27, whereinthe rail provides electricity to the mobile unit under wet andunsanitary conditions and wherein the rail comprises an internal housingthat houses contactors and a gliding cart in contact with the contactor,wherein said gliding cart is prepared from a conducting material and iscoupled to the mobile unit via a conductive rod.
 31. A vertical uprightteat cup holder designed for the use of a human operator and comprisingteat cups, wherein the teat cups comprise holes in which the teats arepositioned, and in which the teat cups are positioned vertically uprightin the teat cup holder, such that the holes in which the teats arepositioned face upwards, wherein the vertical upright teat cup holdercomprises: a first step and a second step being positioned at differentheights, thereby forming a difference in height between the first stepand the second step; and a first teat cup and a second teat cup, eachhaving a top, wherein there is a difference in length between the firstteat cup and the second teat cup, and wherein the difference in heightbetween the first step and the second step is approximately the same asthe difference in length between the first teat cup and the second teatcup, such that when the first teat cup rests on the first step and thesecond teat rests on the second step, the position of the tops of thefirst and second teat cups is approximately at the same height.
 32. Thevertical upright teat cup holder according to claim 31, furthercomprising a manifold attached to tubes leading milk from the teat cupsand to another tube leading milk into a main milk line.